void TaskAutoPilot::Start(const TaskAccessor& task) { // construct list of places we will fly to. // we dont do this dynamically so it is remembered even if // the task is advanced/retreated. if (task.is_ordered()) { // construct list // this pilot is inaccurate, he flies to a random point in the OZ, // and starts in the start OZ. w[1] = task.random_oz_point(0, parms.target_noise); w[0] = task.random_oz_point(1, parms.target_noise); } else { // for non-ordered tasks, start at the default location w[1] = location_start; if (task.is_empty()) { // go somewhere nearby w[0] = location_previous; } else { // go directly to the target w[0] = task.random_oz_point(0, parms.target_noise); } } // pick up the locations from the task to be used to initialise // the aircraft simulator location_start = get_start_location(task); location_previous = get_start_location(task, false); awp= 0; // reset the heading heading = Angle::Zero(); heading_filt.Reset(fixed_zero); acstate = Cruise; }
void TaskAutoPilot::get_awp(TaskAccessor& task) { w[0] = task.random_oz_point(awp, parms.target_noise); }