mirror of
https://github.com/swift-project/pilotclient.git
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489 lines
22 KiB
C++
489 lines
22 KiB
C++
// SPDX-FileCopyrightText: Copyright (C) 2018 swift Project Community / Contributors
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// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-swift-pilot-client-1
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#include "misc/aviation/aircraftsituationchange.h"
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#include <QPair>
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#include <QtGlobal>
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#include "QStringBuilder"
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#include "config/buildconfig.h"
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#include "misc/aviation/aircraftsituationlist.h"
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#include "misc/aviation/callsign.h"
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#include "misc/comparefunctions.h"
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#include "misc/math/mathutils.h"
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#include "misc/pq/angle.h"
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#include "misc/pq/length.h"
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#include "misc/pq/units.h"
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#include "misc/propertyindexref.h"
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#include "misc/simulation/aircraftmodel.h"
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#include "misc/stringutils.h"
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#include "misc/verify.h"
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using namespace swift::misc::physical_quantities;
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using namespace swift::misc::math;
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using namespace swift::config;
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SWIFT_DEFINE_VALUEOBJECT_MIXINS(swift::misc::aviation, CAircraftSituationChange)
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namespace swift::misc::aviation
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{
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void CAircraftSituationChange::registerMetadata()
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{
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CValueObject<CAircraftSituationChange>::registerMetadata();
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qRegisterMetaType<CAircraftSituationChange::GuessedSceneryDeviation>();
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}
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CAircraftSituationChange::CAircraftSituationChange(const CAircraftSituationList &situations,
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const physical_quantities::CLength &cg, bool isVtol,
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bool alreadySortedLatestFirst, bool calcStdDeviations)
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{
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if (situations.size() < 2) { return; }
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const CAircraftSituationList sorted(alreadySortedLatestFirst ? situations :
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situations.getSortedAdjustedLatestFirst());
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if (CBuildConfig::isLocalDeveloperDebugBuild())
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{
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Q_ASSERT_X(sorted.isSortedAdjustedLatestFirstWithoutNullPositions(), Q_FUNC_INFO,
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"Wrong sort order or NULL position");
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}
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const CAircraftSituation latest(sorted.front());
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const CAircraftSituation oldest(sorted.back());
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const CCallsign cs(latest.getCallsign());
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m_situationsCount = situations.size();
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m_correspondingCallsign = cs;
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m_timestampMSecsSinceEpoch = latest.getMSecsSinceEpoch();
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m_timeOffsetMs = latest.getTimeOffsetMs();
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m_oldestTimestampMSecsSinceEpoch = oldest.getMSecsSinceEpoch();
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m_latestAdjustedTimestampMSecsSinceEpoch = latest.getAdjustedMSecsSinceEpoch();
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m_oldestAdjustedTimestampMSecsSinceEpoch = oldest.getAdjustedMSecsSinceEpoch();
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m_constAscending = sorted.isConstAscending(true);
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m_constDescending = sorted.isConstDescending(true);
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m_constOnGround = sorted.isConstOnGround();
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m_constNotOnGround = sorted.isConstNotOnGround();
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m_justTakeoff = sorted.isJustTakingOff(true);
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m_justTouchdown = sorted.isJustTouchingDown(true);
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m_constAccelerating = sorted.isConstAccelerating(true);
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m_constDecelerating = sorted.isConstDecelarating(true);
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m_containsPushBack = !isVtol && sorted.containsPushBack();
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if (sorted.size() >= 3)
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{
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const CAircraftSituationList sortedWithout = sorted.withoutFrontSituation();
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m_wasNotOnGround = sortedWithout.isConstNotOnGround();
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m_wasOnGround = sortedWithout.isConstOnGround();
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}
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if (calcStdDeviations)
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{
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this->calculateStdDeviations(situations, cg);
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m_rotateUp = sorted.front().getPitch() > (m_pitchMean + m_pitchStdDev);
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}
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else { m_rotateUp = sorted.isRotatingUp(true); }
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}
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bool CAircraftSituationChange::guessOnGround(CAircraftSituation &situation,
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const simulation::CAircraftModel &model) const
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{
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if (!situation.shouldGuessOnGround()) { return false; }
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// for debugging purposed
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QString *details = /*CBuildConfig::isLocalDeveloperDebugBuild() ? &m_onGroundGuessingDetails :*/ nullptr;
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// Non VTOL aircraft have to move to be not on ground
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const bool vtol = model.isVtol();
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if (!vtol)
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{
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if (situation.getGroundSpeed().isNegativeWithEpsilonConsidered())
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{
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situation.setOnGroundInfo({ COnGroundInfo::OnGround, COnGroundInfo::OnGroundByGuessing });
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if (details) { *details = QStringLiteral("No VTOL, push back"); }
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return true;
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}
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if (!situation.isMoving())
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{
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situation.setOnGroundInfo({ COnGroundInfo::OnGround, COnGroundInfo::OnGroundByGuessing });
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if (details) { *details = QStringLiteral("No VTOL, not moving => on ground"); }
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return true;
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}
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}
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// not on ground is default
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situation.setOnGroundInfo({ COnGroundInfo::NotOnGround, COnGroundInfo::OnGroundByGuessing });
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CLength cg = situation.hasCG() ? situation.getCG() : model.getCG();
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CSpeed guessedRotateSpeed = CSpeed::null();
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CSpeed sureRotateSpeed = CSpeed(130, CSpeedUnit::kts());
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model.getAircraftIcaoCode().guessModelParameters(cg, guessedRotateSpeed);
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if (!guessedRotateSpeed.isNull())
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{
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// does the value make any sense?
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const bool validGuessedSpeed = (guessedRotateSpeed.value(CSpeedUnit::km_h()) > 5.0);
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SWIFT_VERIFY_X(validGuessedSpeed, Q_FUNC_INFO, "Wrong guessed value for lift off");
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if (!validGuessedSpeed) { guessedRotateSpeed = CSpeed(80, CSpeedUnit::kts()); } // fix
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sureRotateSpeed = guessedRotateSpeed * 1.25;
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}
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// "extreme" values for which we are surely not on ground
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if (qAbs(situation.getPitch().value(CAngleUnit::deg())) > 20)
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{
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if (details) { *details = QStringLiteral("max.pitch"); }
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return true;
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} // some tail wheel aircraft already have 11° pitch on ground
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if (qAbs(situation.getBank().value(CAngleUnit::deg())) > 10)
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{
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if (details) { *details = QStringLiteral("max.bank"); }
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return true;
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}
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if (situation.getGroundSpeed() > sureRotateSpeed)
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{
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if (details) { *details = u"gs. > vr " % sureRotateSpeed.valueRoundedWithUnit(1); }
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return true;
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}
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// use the most accurate or reliable guesses here first
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// ------------------------------------------------------
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// by elevation
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// we can detect "on ground" (underflow, near ground), but not "not on ground" because of overflow
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// we can detect on ground for underflow, but not for overflow (so we can not rely on NotOnGround)
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COnGroundInfo og(cg, situation.getGroundDistance(cg));
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if (og.getOnGround() == COnGroundInfo::OnGround)
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{
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if (details) { *details = QStringLiteral("elevation on ground"); }
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og.setOnGroundDetails(COnGroundInfo::OnGroundByGuessing);
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situation.setOnGroundInfo(og);
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return true;
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}
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if (!isNull())
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{
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if (!vtol && wasConstOnGround())
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{
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if (isRotatingUp())
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{
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// not OG
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if (details) { *details = QStringLiteral("rotating up detected"); }
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return true;
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}
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// here we stick to ground until we detect rotate up
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situation.setOnGroundInfo({ COnGroundInfo::OnGround, COnGroundInfo::OnGroundByGuessing });
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if (details) { *details = QStringLiteral("waiting for rotating up"); }
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return true;
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}
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if (isConstAscending())
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{
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// not OG
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if (details) { *details = QStringLiteral("const ascending"); }
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return true;
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}
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}
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// on VTOL we stop here
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if (vtol)
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{
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// no idea
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situation.setOnGroundInfo({ COnGroundInfo::OnGroundSituationUnknown, COnGroundInfo::NotSetGroundDetails });
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return false;
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}
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// guessed speed null -> vtol
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if (!guessedRotateSpeed.isNull())
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{
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// does the value make any sense?
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if (situation.getGroundSpeed() < guessedRotateSpeed)
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{
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situation.setOnGroundInfo({ COnGroundInfo::OnGround, COnGroundInfo::OnGroundByGuessing });
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if (details)
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{
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*details = QStringLiteral("Guessing, max.guessed gs.") +
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guessedRotateSpeed.valueRoundedWithUnit(CSpeedUnit::kts(), 1);
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}
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return true;
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}
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}
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// not sure, but this is a guess
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if (details) { *details = QStringLiteral("Fall through"); }
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return true;
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}
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bool CAircraftSituationChange::hasSceneryDeviation() const { return !m_guessedSceneryDeviation.isNull(); }
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bool CAircraftSituationChange::hasElevationDevWithinAllowedRange() const
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{
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if (m_elvStdDev.isNull()) { return false; }
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return m_elvStdDev < CAircraftSituation::allowedAltitudeDeviation();
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}
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bool CAircraftSituationChange::hasAltitudeDevWithinAllowedRange() const
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{
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if (m_altStdDev.isNull()) { return false; }
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return m_altStdDev < CAircraftSituation::allowedAltitudeDeviation();
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}
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QString CAircraftSituationChange::convertToQString(bool i18n) const
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{
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Q_UNUSED(i18n)
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static const QString null("null");
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if (this->isNull()) { return null; }
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return u"CS: '" % this->getCallsign().asString() % u" ' ts: " % this->getTimestampAndOffset(true) %
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u" | situations:" % QString::number(m_situationsCount) % u" | ts adj.: " %
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QString::number(m_oldestAdjustedTimestampMSecsSinceEpoch) % u'-' %
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QString::number(m_latestAdjustedTimestampMSecsSinceEpoch) % u" | just takeoff: " %
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boolToYesNo(this->isJustTakingOff()) % u" just touchdown: " % boolToYesNo(this->isJustTouchingDown()) %
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u" | all gnd: " % boolToYesNo(this->isConstOnGround()) % u'/' % boolToYesNo(this->wasConstOnGround()) %
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u" | all not gnd: " % boolToYesNo(this->isConstNotOnGround()) % u'/' %
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boolToYesNo(this->wasConstNotOnGround()) % u" | ascending: " % boolToYesNo(this->isConstAscending()) %
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u" descending: " % boolToYesNo(this->isConstDescending()) % u" | accelerating.: " %
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boolToYesNo(this->isConstAccelerating()) % u" decelarating: " %
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boolToYesNo(this->isConstDecelarating()) % u" | rotate up: " % boolToYesNo(this->isRotatingUp()) %
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u" | push back: " % boolToYesNo(this->containsPushBack()) % u" | scenery delta: " %
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m_guessedSceneryDeviation.valueRoundedWithUnit(1) % u" [" % this->getSceneryDeviationHintAsString() %
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u"] | AGL delta: " % m_gndDistMean.valueRoundedWithUnit(1) % u'/' %
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m_gndDistStdDev.valueRoundedWithUnit(1) % u" | std.dev/mean: pitch " %
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m_pitchMean.valueRoundedWithUnit(1) % u'/' % m_pitchStdDev.valueRoundedWithUnit(1) % u" gs " %
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m_gsMean.valueRoundedWithUnit(1) % u'/' % m_gsStdDev.valueRoundedWithUnit(1) % u" alt. " %
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m_altMean.valueRoundedWithUnit(1) % u'/' % m_altStdDev.valueRoundedWithUnit(1) % u" elv. " %
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m_elvMean.valueRoundedWithUnit(1) % u'/' % m_elvStdDev.valueRoundedWithUnit(1);
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}
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QVariant CAircraftSituationChange::propertyByIndex(CPropertyIndexRef index) const
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{
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if (index.isMyself()) { return QVariant::fromValue(*this); }
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if (ITimestampWithOffsetBased::canHandleIndex(index))
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{
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return ITimestampWithOffsetBased::propertyByIndex(index);
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}
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const ColumnIndex i = index.frontCasted<ColumnIndex>();
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switch (i)
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{
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case IndexCallsign: return m_correspondingCallsign.propertyByIndex(index.copyFrontRemoved());
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case IndexSituationsCount: return QVariant::fromValue(m_situationsCount);
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case IndexConstAscending: return QVariant::fromValue(m_constAscending);
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case IndexConstDescending: return QVariant::fromValue(m_constDescending);
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case IndexConstNotOnGround: return QVariant::fromValue(m_constNotOnGround);
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case IndexConstOnGround: return QVariant::fromValue(m_constOnGround);
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case IndexIsNull: return QVariant::fromValue(this->isNull());
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case IndexJustTakingOff: return QVariant::fromValue(m_justTakeoff);
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case IndexJustTouchingDown: return QVariant::fromValue(m_justTouchdown);
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case IndexRotatingUp: return QVariant::fromValue(m_rotateUp);
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case IndexContainsPushBack: return QVariant::fromValue(m_containsPushBack);
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case IndexAltitudeMean: return QVariant::fromValue(m_altMean);
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case IndexAltitudeStdDev: return QVariant::fromValue(m_altStdDev);
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case IndexElevationMean: return QVariant::fromValue(m_elvMean);
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case IndexElevationStdDev: return QVariant::fromValue(m_elvStdDev);
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default: return CValueObject::propertyByIndex(index);
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}
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}
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void CAircraftSituationChange::setPropertyByIndex(CPropertyIndexRef index, const QVariant &variant)
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{
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if (index.isMyself())
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{
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(*this) = variant.value<CAircraftSituationChange>();
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return;
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}
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if (ITimestampWithOffsetBased::canHandleIndex(index))
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{
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ITimestampWithOffsetBased::setPropertyByIndex(index, variant);
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return;
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}
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const ColumnIndex i = index.frontCasted<ColumnIndex>();
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switch (i)
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{
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case IndexCallsign: m_correspondingCallsign.setPropertyByIndex(index.copyFrontRemoved(), variant); break;
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case IndexSituationsCount: m_situationsCount = variant.toInt(); break;
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case IndexConstAscending: m_constAscending = variant.toBool(); break;
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case IndexConstDescending: m_constDescending = variant.toBool(); break;
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case IndexConstNotOnGround: m_constNotOnGround = variant.toBool(); break;
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case IndexConstOnGround: m_constOnGround = variant.toBool(); break;
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case IndexJustTakingOff: m_justTakeoff = variant.toBool(); break;
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case IndexJustTouchingDown: m_justTouchdown = variant.toBool(); break;
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case IndexRotatingUp: m_rotateUp = variant.toBool(); break;
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case IndexContainsPushBack: m_containsPushBack = variant.toBool(); break;
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case IndexIsNull:
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case IndexAltitudeMean:
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case IndexAltitudeStdDev:
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case IndexElevationMean:
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case IndexElevationStdDev: break; // read only
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default: CValueObject::setPropertyByIndex(index, variant); break;
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}
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}
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int CAircraftSituationChange::comparePropertyByIndex(CPropertyIndexRef index,
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const CAircraftSituationChange &compareValue) const
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{
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if (index.isMyself())
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{
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return ITimestampWithOffsetBased::comparePropertyByIndex(CPropertyIndex(), compareValue);
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}
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if (ITimestampWithOffsetBased::canHandleIndex(index))
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{
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return ITimestampWithOffsetBased::comparePropertyByIndex(index, compareValue);
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}
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const ColumnIndex i = index.frontCasted<ColumnIndex>();
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switch (i)
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{
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case IndexCallsign:
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return m_correspondingCallsign.comparePropertyByIndex(index.copyFrontRemoved(), compareValue.getCallsign());
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case IndexSituationsCount:
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return Compare::compare(this->getSituationsCount(), compareValue.getSituationsCount());
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case IndexConstAscending: return Compare::compare(this->isConstAscending(), compareValue.isConstAscending());
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case IndexConstDescending: return Compare::compare(this->isConstDescending(), compareValue.isConstDescending());
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case IndexConstNotOnGround:
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return Compare::compare(this->isConstNotOnGround(), compareValue.isConstNotOnGround());
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case IndexConstOnGround: return Compare::compare(this->isConstOnGround(), compareValue.isConstOnGround());
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case IndexJustTakingOff: return Compare::compare(this->isJustTakingOff(), compareValue.isJustTakingOff());
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case IndexJustTouchingDown:
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return Compare::compare(this->isJustTouchingDown(), compareValue.isJustTouchingDown());
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case IndexRotatingUp: return Compare::compare(this->isRotatingUp(), compareValue.isRotatingUp());
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case IndexContainsPushBack: return Compare::compare(this->containsPushBack(), compareValue.containsPushBack());
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case IndexIsNull: return Compare::compare(this->isNull(), compareValue.isNull());
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case IndexAltitudeMean:
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return m_altMean.comparePropertyByIndex(index.copyFrontRemoved(), compareValue.m_altMean);
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case IndexAltitudeStdDev:
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return m_altStdDev.comparePropertyByIndex(index.copyFrontRemoved(), compareValue.m_altStdDev);
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case IndexElevationMean:
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return m_elvMean.comparePropertyByIndex(index.copyFrontRemoved(), compareValue.m_elvMean);
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case IndexElevationStdDev:
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return m_elvStdDev.comparePropertyByIndex(index.copyFrontRemoved(), compareValue.m_elvStdDev);
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default: return CValueObject::comparePropertyByIndex(index, *this);
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}
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Q_ASSERT_X(false, Q_FUNC_INFO, "No comparison");
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return 0;
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}
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bool CAircraftSituationChange::calculateStdDeviations(const CAircraftSituationList &situations, const CLength &cg)
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{
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if (situations.isEmpty()) { return false; }
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const QPair<CSpeed, CSpeed> gsStdDevMean = situations.groundSpeedStandardDeviationAndMean();
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m_gsStdDev = gsStdDevMean.first;
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m_gsMean = gsStdDevMean.second;
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const QPair<CAngle, CAngle> pitchStdDevMean = situations.pitchStandardDeviationAndMean();
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m_pitchStdDev = pitchStdDevMean.first;
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m_pitchMean = pitchStdDevMean.second;
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const QList<double> altValues = situations.altitudeValues(CAltitude::defaultUnit());
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if (altValues.size() == situations.size())
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{
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const QPair<double, double> altDevMean = CMathUtils::standardDeviationAndMean(altValues);
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m_altStdDev = CAltitude(altDevMean.first, CAltitude::MeanSeaLevel, CAltitude::defaultUnit());
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m_altMean = CAltitude(altDevMean.second, CAltitude::MeanSeaLevel, CAltitude::defaultUnit());
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}
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const QList<double> elvValues = situations.elevationValues(CAltitude::defaultUnit());
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if (elvValues.size() == situations.size())
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{
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const QPair<double, double> elvDevMean = CMathUtils::standardDeviationAndMean(elvValues);
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m_elvStdDev = CAltitude(elvDevMean.first, CAltitude::MeanSeaLevel, CAltitude::defaultUnit());
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m_elvMean = CAltitude(elvDevMean.second, CAltitude::MeanSeaLevel, CAltitude::defaultUnit());
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if (altValues.size() == situations.size())
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{
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QList<double> gndDistance;
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for (int i = 0; i < altValues.size(); i++)
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{
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const double delta = altValues[i] - elvValues[i];
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gndDistance.push_back(delta);
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}
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const QPair<double, double> gndDistanceDevMean = CMathUtils::standardDeviationAndMean(gndDistance);
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m_gndDistStdDev = CLength(gndDistanceDevMean.first, CAltitude::defaultUnit());
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m_gndDistMean = CLength(gndDistanceDevMean.second, CAltitude::defaultUnit());
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const auto gndDistMinMax = std::minmax_element(gndDistance.constBegin(), gndDistance.constEnd());
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const double gndDistMin = *gndDistMinMax.first;
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const double gndDistMax = *gndDistMinMax.second;
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m_minGroundDistance = CLength(gndDistMin, CAltitude::defaultUnit());
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m_maxGroundDistance = CLength(gndDistMax, CAltitude::defaultUnit());
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this->guessSceneryDeviation(cg);
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}
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}
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return true;
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}
|
|
|
|
const CAircraftSituationChange &CAircraftSituationChange::null()
|
|
{
|
|
static const CAircraftSituationChange null;
|
|
return null;
|
|
}
|
|
|
|
const QString &CAircraftSituationChange::guessedSceneryDeviationToString(GuessedSceneryDeviation hint)
|
|
{
|
|
static const QString noInfo("no info");
|
|
static const QString completeOg("complete og");
|
|
static const QString wasOg("was og");
|
|
static const QString smallAGLDev("small AGL dev. near gnd.");
|
|
|
|
switch (hint)
|
|
{
|
|
case AllOnGround: return completeOg;
|
|
case WasOnGround: return wasOg;
|
|
case SmallAGLDeviationNearGround: return smallAGLDev;
|
|
case NoDeviationInfo:
|
|
default: break;
|
|
}
|
|
return noInfo;
|
|
}
|
|
|
|
void CAircraftSituationChange::setSceneryDeviation(const CLength &deviation, const CLength &cg,
|
|
CAircraftSituationChange::GuessedSceneryDeviation hint)
|
|
{
|
|
m_guessedSceneryDeviation = deviation;
|
|
m_guessedSceneryDeviationCG = cg.isNull() ? CLength::null() : deviation - cg;
|
|
this->setSceneryDeviationHint(hint);
|
|
}
|
|
|
|
void CAircraftSituationChange::guessSceneryDeviation(const CLength &cg)
|
|
{
|
|
m_guessedSceneryDeviation = CLength::null();
|
|
this->setSceneryDeviationHint(NoDeviationInfo);
|
|
if (m_gndDistStdDev.isNull()) { return; }
|
|
if (m_gndDistMean.isNull()) { return; }
|
|
|
|
// only for a small deviation we can calculate scenery differemce
|
|
static const CLength maxDeviation(2, CLengthUnit::ft());
|
|
|
|
// Small deviation means "const" AGL
|
|
if (m_gndDistStdDev <= maxDeviation)
|
|
{
|
|
do {
|
|
if (this->isConstOnGround())
|
|
{
|
|
this->setSceneryDeviation(m_gndDistMean, cg, AllOnGround);
|
|
break;
|
|
}
|
|
if (this->wasConstNotOnGround())
|
|
{
|
|
this->setSceneryDeviation(m_gndDistMean, cg, WasOnGround);
|
|
break;
|
|
}
|
|
if (!m_altStdDev.isNull() && m_altStdDev <= maxDeviation)
|
|
{
|
|
// small alt.deviation too!
|
|
if (!m_maxGroundDistance.isNull() && m_maxGroundDistance < cg)
|
|
{
|
|
if (this->isConstOnGround())
|
|
{
|
|
this->setSceneryDeviation(m_gndDistMean, cg, SmallAGLDeviationNearGround);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
while (false);
|
|
}
|
|
}
|
|
} // namespace swift::misc::aviation
|