const AircraftState
ToAircraftState(const MoreData &info, const DerivedInfo &calculated)
{
AircraftState aircraft;
/* SPEED_STATE */
aircraft.ground_speed = info.ground_speed;
aircraft.true_airspeed = info.true_airspeed;
aircraft.indicated_airspeed = info.indicated_airspeed;
/* ALTITUDE_STATE */
aircraft.altitude = info.nav_altitude;
aircraft.working_band_fraction = calculated.thermal_band.working_band_fraction;
aircraft.altitude_agl = calculated.altitude_agl;
/* VARIO_INFO */
aircraft.vario = info.brutto_vario;
aircraft.netto_vario = info.netto_vario;
/* FLYING_STATE */
(FlyingState &)aircraft = calculated.flight;
/* AIRCRAFT_STATE */
aircraft.time = info.time;
aircraft.location = info.location;
aircraft.track = info.track;
aircraft.g_load = info.acceleration.available
? info.acceleration.g_load
: fixed_one;
aircraft.wind = calculated.GetWindOrZero();
return aircraft;
}
void
GlideComputerAirData::ResetLiftDatabase(DerivedInfo &calculated)
{
calculated.ClearLiftDatabase();
calculated.trace_history.CirclingAverage.clear();
}
void
GlideComputerTask::ProcessBasicTask(const MoreData &basic,
const MoreData &last_basic,
DerivedInfo &calculated,
const DerivedInfo &last_calculated,
const ComputerSettings &settings_computer)
{
if (basic.HasTimeAdvancedSince(last_basic) && basic.location_available)
trace.Update(settings_computer, ToAircraftState(basic, calculated));
ProtectedTaskManager::ExclusiveLease _task(task);
_task->SetTaskBehaviour(settings_computer.task);
if (basic.HasTimeAdvancedSince(last_basic) && basic.location_available) {
const AircraftState current_as = ToAircraftState(basic, calculated);
const AircraftState last_as = ToAircraftState(last_basic, last_calculated);
_task->Update(current_as, last_as);
const fixed fallback_mc = calculated.last_thermal.IsDefined() &&
positive(calculated.last_thermal_average_smooth)
? calculated.last_thermal_average_smooth
: fixed_zero;
if (_task->UpdateAutoMC(current_as, fallback_mc))
calculated.ProvideAutoMacCready(basic.clock,
_task->GetGlidePolar().GetMC());
}
calculated.task_stats = _task->GetStats();
calculated.common_stats = _task->GetCommonStats();
calculated.glide_polar_safety = _task->GetSafetyPolar();
}
static Phase::CirclingDirection
CalcCirclingDirection(const DerivedInfo &calculated)
{
if (!calculated.circling) {
return Phase::CirclingDirection::NO_DIRECTION;
}
return calculated.TurningLeft() ?
Phase::CirclingDirection::LEFT : Phase::CirclingDirection::RIGHT;
}
void
GlideComputerAirData::UpdateLiftDatabase(const MoreData &basic,
DerivedInfo &calculated,
const DerivedInfo &last_calculated)
{
// If we just started circling
// -> reset the database because this is a new thermal
if (!calculated.circling && last_calculated.circling)
ResetLiftDatabase(calculated);
// Determine the direction in which we are circling
bool left = calculated.TurningLeft();
// Depending on the direction set the step size sign for the
// following loop
Angle heading_step = Angle::Degrees(fixed(left ? -10 : 10));
// Start at the last heading and add heading_step until the current heading
// is reached. For each heading save the current lift value into the
// LiftDatabase. Last and current heading are included since they are
// a part of the ten degree interval most of the time.
//
// This is done with Angles to deal with the 360 degrees limit.
// e.g. last heading 348 degrees, current heading 21 degrees
//
// The loop condition stops until the current heading is reached.
// Depending on the circling direction the current heading will be
// smaller or bigger then the last one, because of that negative() is
// tested against the left variable.
for (Angle h = last_calculated.heading;
left == negative((calculated.heading - h).AsDelta().Degrees());
h += heading_step) {
unsigned index = heading_to_index(h);
calculated.lift_database[index] = basic.brutto_vario;
}
// detect zero crossing
if (((calculated.heading.Degrees()< fixed_90) &&
(last_calculated.heading.Degrees()> fixed_270)) ||
((last_calculated.heading.Degrees()< fixed_90) &&
(calculated.heading.Degrees()> fixed_270))) {
fixed h_av = fixed_zero;
for (unsigned i=0; i<36; ++i) {
h_av += calculated.lift_database[i];
}
h_av/= 36;
calculated.trace_history.CirclingAverage.push(h_av);
}
}
void
GlideComputerAirData::ProcessVertical(const MoreData &basic,
const MoreData &last_basic,
DerivedInfo &calculated,
const ComputerSettings &settings)
{
/* the "circling" flag may be modified by
CirclingComputer::Turning(); remember the old state so this
method can check for modifications */
const bool last_circling = calculated.circling;
auto_qnh.Process(basic, calculated, settings, waypoints);
circling_computer.TurnRate(calculated, basic,
calculated.flight);
Turning(basic, calculated, settings);
wind_computer.Compute(settings.wind, settings.polar.glide_polar_task,
basic, calculated);
wind_computer.Select(settings.wind, basic, calculated);
wind_computer.ComputeHeadWind(basic, calculated);
thermallocator.Process(calculated.circling,
basic.time, basic.location,
basic.netto_vario,
calculated.GetWindOrZero(),
calculated.thermal_locator);
LastThermalStats(basic, calculated, last_circling);
gr_computer.Compute(basic, last_basic, calculated,
calculated,
settings);
GR(basic, calculated.flight, calculated);
CruiseGR(basic, calculated);
average_vario.Compute(basic, calculated.circling, last_circling,
calculated);
AverageClimbRate(basic, calculated);
if (calculated.circling)
CurrentThermal(basic, calculated, calculated.current_thermal);
lift_database_computer.Compute(calculated.lift_database,
calculated.trace_history.CirclingAverage,
basic, calculated);
circling_computer.MaxHeightGain(basic, calculated.flight, calculated);
NextLegEqThermal(basic, calculated, settings);
}
void
RouteComputer::ProcessRoute(const MoreData &basic, DerivedInfo &calculated,
const GlideSettings &settings,
const RoutePlannerConfig &config,
const GlidePolar &glide_polar,
const GlidePolar &safety_polar)
{
if (!basic.location_available || !basic.NavAltitudeAvailable())
return;
protected_route_planner.SetPolars(settings, glide_polar, safety_polar,
calculated.GetWindOrZero());
Reach(basic, calculated, config);
TerrainWarning(basic, calculated, config);
}
void
ThermalBandComputer::Compute(const MoreData &basic,
const DerivedInfo &calculated,
ThermalBandInfo &tbi,
const ComputerSettings &settings)
{
if (!basic.NavAltitudeAvailable())
return;
const fixed h_safety =
settings.task.route_planner.safety_height_terrain +
calculated.GetTerrainBaseFallback();
tbi.working_band_height = basic.TE_altitude - h_safety;
if (negative(tbi.working_band_height)) {
tbi.working_band_fraction = fixed(0);
return;
}
const fixed max_height = tbi.max_thermal_height;
if (positive(max_height))
tbi.working_band_fraction = tbi.working_band_height / max_height;
else
tbi.working_band_fraction = fixed(1);
tbi.working_band_ceiling = std::max(max_height + h_safety,
basic.TE_altitude);
last_vario_available.FixTimeWarp(basic.brutto_vario_available);
if (basic.brutto_vario_available.Modified(last_vario_available)) {
last_vario_available = basic.brutto_vario_available;
// JMW TODO accuracy: Should really work out dt here,
// but i'm assuming constant time steps
if (tbi.max_thermal_height == fixed(0))
tbi.max_thermal_height = tbi.working_band_height;
// only do this if in thermal and have been climbing
if (calculated.circling && calculated.turning &&
positive(calculated.average))
tbi.Add(tbi.working_band_height, basic.brutto_vario);
}
}
void CalculateDirect(const PolarSettings &polar_settings,
const TaskBehaviour &task_behaviour,
const DerivedInfo &calculated) {
if (!basic.location_available || !basic.NavAltitudeAvailable())
return;
const GlidePolar &glide_polar =
task_behaviour.route_planner.reach_polar_mode == RoutePlannerConfig::Polar::TASK
? polar_settings.glide_polar_task
: calculated.glide_polar_safety;
const MacCready mac_cready(task_behaviour.glide, glide_polar);
for (VisibleWaypoint &vwp : waypoints) {
const Waypoint &way_point = *vwp.waypoint;
if (way_point.IsLandable() || way_point.flags.watched)
vwp.CalculateReachabilityDirect(basic, calculated.GetWindOrZero(),
mac_cready, task_behaviour);
}
}
bool
ConditionMonitorWind::CheckCondition(const NMEAInfo &basic,
const DerivedInfo &calculated,
const ComputerSettings &settings)
{
wind = calculated.GetWindOrZero();
if (!calculated.flight.flying) {
last_wind = wind;
return false;
}
fixed mag_change = fabs(wind.norm - last_wind.norm);
fixed dir_change = (wind.bearing - last_wind.bearing).AsDelta().AbsoluteDegrees();
if (mag_change > fixed(2.5))
return true;
return wind.norm > fixed(5) &&
dir_change > fixed(45);
}
const AircraftState
ToAircraftState(const MoreData &info, const DerivedInfo &calculated)
{
AircraftState aircraft;
/* SPEED_STATE */
aircraft.ground_speed = info.ground_speed;
aircraft.true_airspeed = info.true_airspeed;
/* ALTITUDE_STATE */
aircraft.altitude = info.NavAltitudeAvailable()
? info.nav_altitude
: 0.;
aircraft.working_band_fraction = calculated.common_stats.height_fraction_working;
aircraft.altitude_agl =
info.NavAltitudeAvailable() && calculated.terrain_valid
? calculated.altitude_agl
: 0.;
/* VARIO_INFO */
aircraft.vario = info.brutto_vario;
aircraft.netto_vario = info.netto_vario;
/* AIRCRAFT_STATE */
aircraft.time = info.time_available ? info.time : -1.;
aircraft.location = info.location_available
? info.location
: GeoPoint::Invalid();
aircraft.track = info.track;
aircraft.g_load = info.acceleration.available
? info.acceleration.g_load
: 1.;
aircraft.wind = calculated.GetWindOrZero();
aircraft.flying = calculated.flight.flying;
return aircraft;
}
void
GlideComputerAirData::ProcessVertical(const MoreData &basic,
const MoreData &last_basic,
DerivedInfo &calculated,
const DerivedInfo &last_calculated,
const ComputerSettings &settings)
{
auto_qnh.Process(basic, calculated, settings, waypoints);
Heading(basic, calculated);
circling_computer.TurnRate(calculated, basic, last_basic,
calculated, last_calculated);
Turning(basic, last_basic, calculated, last_calculated, settings);
wind_computer.Compute(settings.wind, settings.polar.glide_polar_task,
basic, calculated);
wind_computer.Select(settings.wind, basic, calculated);
wind_computer.ComputeHeadWind(basic, calculated);
thermallocator.Process(calculated.circling,
basic.time, basic.location,
basic.netto_vario,
calculated.GetWindOrZero(),
calculated.thermal_locator);
LastThermalStats(basic, calculated, last_calculated);
GR(basic, last_basic, calculated, calculated);
CruiseGR(basic, calculated);
if (calculated.flight.flying && !calculated.circling)
calculated.average_gr = gr_calculator.Calculate();
Average30s(basic, last_basic, calculated, last_calculated);
AverageClimbRate(basic, calculated);
CurrentThermal(basic, calculated, calculated.current_thermal);
UpdateLiftDatabase(basic, calculated, last_calculated);
circling_computer.MaxHeightGain(basic, calculated.flight, calculated);
NextLegEqThermal(basic, calculated, settings);
}
void
GlideComputerAirData::ThermalSources(const MoreData &basic,
const DerivedInfo &calculated,
ThermalLocatorInfo &thermal_locator)
{
if (!thermal_locator.estimate_valid ||
!basic.NavAltitudeAvailable() ||
!calculated.last_thermal.IsDefined() ||
negative(calculated.last_thermal.lift_rate))
return;
if (calculated.wind_available &&
calculated.wind.norm / calculated.last_thermal.lift_rate > fixed(10.0)) {
// thermal strength is so weak compared to wind that source estimate
// is unlikely to be reliable, so don't calculate or remember it
return;
}
GeoPoint ground_location;
fixed ground_altitude = fixed_minus_one;
EstimateThermalBase(terrain, thermal_locator.estimate_location,
basic.nav_altitude,
calculated.last_thermal.lift_rate,
calculated.GetWindOrZero(),
ground_location,
ground_altitude);
if (positive(ground_altitude)) {
ThermalSource &source =
thermal_locator.AllocateSource(basic.time);
source.lift_rate = calculated.last_thermal.lift_rate;
source.location = ground_location;
source.ground_height = ground_altitude;
source.time = basic.time;
}
}
void
ThermalBandRenderer::_DrawThermalBand(const MoreData &basic,
const DerivedInfo& calculated,
const ComputerSettings &settings_computer,
ChartRenderer &chart,
const TaskBehaviour& task_props,
const bool is_infobox,
const OrderedTaskBehaviour *ordered_props) const
{
const ThermalBandInfo &thermal_band = calculated.thermal_band;
// calculate height above safety height
fixed hoffset = task_props.route_planner.safety_height_terrain +
calculated.GetTerrainBaseFallback();
fixed h = fixed(0);
if (basic.NavAltitudeAvailable()) {
h = basic.nav_altitude - hoffset;
chart.ScaleYFromValue(h);
}
bool draw_start_height = false;
fixed hstart = fixed(0);
draw_start_height = ordered_props
&& calculated.ordered_task_stats.task_valid
&& ordered_props->start_constraints.max_height != 0
&& calculated.terrain_valid;
if (draw_start_height) {
hstart = fixed(ordered_props->start_constraints.max_height);
if (ordered_props->start_constraints.max_height_ref == AltitudeReference::AGL &&
calculated.terrain_valid)
hstart += calculated.terrain_altitude;
hstart -= hoffset;
chart.ScaleYFromValue(hstart);
}
// no thermalling has been done above safety height
if (!positive(calculated.thermal_band.max_thermal_height))
return;
// calculate averages
int numtherm = 0;
fixed Wmax = fixed(0);
fixed Wav = fixed(0);
fixed Wt[ThermalBandInfo::NUMTHERMALBUCKETS];
fixed ht[ThermalBandInfo::NUMTHERMALBUCKETS];
for (unsigned i = 0; i < ThermalBandInfo::NUMTHERMALBUCKETS; ++i) {
if (thermal_band.thermal_profile_n[i] < 6)
continue;
if (positive(thermal_band.thermal_profile_w[i])) {
// height of this thermal point [0,mth]
// requires 5 items in bucket before displaying, to eliminate kinks
fixed wthis = thermal_band.thermal_profile_w[i] / thermal_band.thermal_profile_n[i];
ht[numtherm] = i * calculated.thermal_band.max_thermal_height
/ ThermalBandInfo::NUMTHERMALBUCKETS;
Wt[numtherm] = wthis;
Wmax = std::max(Wmax, wthis);
Wav+= wthis;
numtherm++;
}
}
chart.ScaleXFromValue(Wmax);
if (!numtherm)
return;
chart.ScaleXFromValue(fixed(1.5)*Wav/numtherm);
if ((!draw_start_height) && (numtherm<=1))
// don't display if insufficient statistics
// but do draw if start height needs to be drawn
return;
const Pen *fpen = is_infobox ? NULL : &look.pen;
// position of thermal band
if (numtherm > 1) {
std::vector< std::pair<fixed, fixed> > thermal_profile;
thermal_profile.reserve(numtherm);
for (int i = 0; i < numtherm; ++i)
thermal_profile.emplace_back(Wt[i], ht[i]);
if (!is_infobox) {
#ifdef ENABLE_OPENGL
const GLEnable blend(GL_BLEND);
#endif
chart.DrawFilledY(thermal_profile, look.brush, fpen);
} else
chart.DrawFilledY(thermal_profile, look.brush, fpen);
}
// position of thermal band
if (basic.NavAltitudeAvailable()) {
const Pen &pen = is_infobox && look.inverse
? look.white_pen : look.black_pen;
chart.DrawLine(fixed(0), h,
settings_computer.polar.glide_polar_task.GetMC(), h, pen);
if (is_infobox && look.inverse)
chart.GetCanvas().SelectWhiteBrush();
else
chart.GetCanvas().SelectBlackBrush();
chart.DrawDot(settings_computer.polar.glide_polar_task.GetMC(),
h, Layout::Scale(2));
}
}