void
FlyingComputer::Compute(fixed takeoff_speed,
const NMEAInfo &basic, const NMEAInfo &last_basic,
const DerivedInfo &calculated,
FlyingState &flying)
{
if (basic.HasTimeRetreatedSince(last_basic)) {
Reset();
flying.Reset();
}
// GPS not lost
if (!basic.location_available)
return;
// Speed too high for being on the ground
const fixed speed = basic.airspeed_available
? std::max(basic.true_airspeed, basic.ground_speed)
: basic.ground_speed;
if (speed > takeoff_speed ||
(calculated.altitude_agl_valid && calculated.altitude_agl > fixed(300)))
Moving(flying, basic.time, basic.location);
else
Stationary(flying, basic.time, basic.location);
}
void
FlyingComputer::Compute(fixed takeoff_speed,
const AircraftState &state,
FlyingState &flying)
{
if (state.ground_speed > takeoff_speed)
Moving(flying, state.time);
else
Stationary(flying, state.time);
}
std::vector<double> StationaryMarginals(const DblCubeHypermatrix& P) {
std::vector<double> st = Stationary(P);
int dim = P.dim();
std::vector<double> marginals(dim, 0.0);
for (int i = 0; i < st.size(); ++i) {
int marginal_ind = (i % dim);
marginals[marginal_ind] += st[i];
}
return marginals;
}
void
FlyingComputer::Compute(fixed takeoff_speed,
const AircraftState &state, fixed dt,
FlyingState &flying)
{
if (negative(state.time))
return;
if (state.ground_speed > takeoff_speed)
Moving(flying, state.time, dt, state.location);
else
Stationary(flying, state.time, dt, state.location);
}
void
FlyingComputer::Compute(double takeoff_speed,
const AircraftState &state, double dt,
FlyingState &flying)
{
if (state.time < 0)
return;
if (state.ground_speed > takeoff_speed)
Moving(flying, state.time, dt, state.location);
else
Stationary(flying, state.time, dt, state.location);
}
void
FlyingComputer::Compute(fixed takeoff_speed,
const NMEAInfo &basic,
const DerivedInfo &calculated,
FlyingState &flying)
{
if (!basic.time_available || !basic.location_available)
return;
const fixed dt = delta_time.Update(basic.time, fixed(0.5), fixed(20));
if (negative(dt)) {
Reset();
flying.Reset();
}
if (!positive(dt))
return;
const auto any_altitude = basic.GetAnyAltitude();
if (!basic.airspeed_available && !calculated.altitude_agl_valid &&
any_altitude.first && !negative(last_ground_altitude) &&
any_altitude.second > last_ground_altitude + fixed(250)) {
/* lower the threshold for "not moving" when the aircraft is high
above the take-off airfield and there's no airspeed probe; this
shall reduce the risk of false landing detection when flying in
strong head wind (e.g. ridge or wave) */
fixed dh = any_altitude.second - last_ground_altitude;
if (dh > fixed(1000))
takeoff_speed /= 4;
else if (dh > fixed(500))
takeoff_speed /= 2;
else
takeoff_speed = takeoff_speed * 2 / 3;
}
if (CheckTakeOffSpeed(takeoff_speed, basic) ||
CheckAltitudeAGL(calculated))
Moving(flying, basic.time, dt, basic.location);
else if (!flying.flying ||
(CheckLandingSpeed(takeoff_speed, basic) &&
(!any_altitude.first || !CheckClimbing(dt, any_altitude.second))))
Stationary(flying, basic.time, dt, basic.location);
if (basic.engine_noise_level_available)
CheckPowered(dt, basic, flying);
if (any_altitude.first) {
if (flying.on_ground)
last_ground_altitude = any_altitude.second;
CheckRelease(flying, basic.time, basic.location, any_altitude.second);
} else
sinking_since = fixed(-1);
if (flying.flying && flying.release_location.IsValid()) {
fixed distance = basic.location.Distance(flying.release_location);
if (distance > flying.far_distance) {
flying.far_location = basic.location;
flying.far_distance = distance;
}
}
}
