GPWS.cpp

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#include "Module.h"




Gpws::Gpws(Bus* prmBus) : Module(prmBus)
{
}

void Gpws::FrameMove(float fElapsed)
{
        secsincelast += fElapsed;

        bus->GPWS = Bus::GpwsEnum::Reset;

        /*
                WCHAR gpwsmsg[32];

                DWORD tempcolor=0L;


                //      sprintf_s( msg, sizeof(msg), "Bank %.1f (%.1f) sec %.1f", bus->RollAttitude, bus->PitchAttitude, secsincelast );
                //      m_pFont->DrawText( 80.0f, 660.0f, D3DCOLOR_ARGB(255,0,255,0), msg );


                float bus->RadioAltitude=f_AGL-citystuff.elevation;
                */

        /*
        // Mode 1 - Excessive barometric descent rate
        if (bus->RadioAltitude >= 0.009f && bus->RadioAltitude <= 0.746f) // 30' to 2450'
        {
        if (bus->GPWS > Bus::GpwsEnum::Mode1_Pull_Up &&
        ((-bus->VerticalSpeed >= 0.009f && bus->RadioAltitude<0.082f) ||
        (bus->RadioAltitude >= 0.082f && -bus->VerticalSpeed>((bus->RadioAltitude - 0.082f)*0.04367f + 0.009f))))
        {
        bus->GPWS = Bus::GpwsEnum::Mode1_Pull_Up;
        }
        else if (bus->GPWS > Bus::GpwsEnum::Mode1_Sink_Rate &&
        (bus->RadioAltitude >= 0.009f && -bus->VerticalSpeed > ((bus->RadioAltitude - 0.009f)*0.02306f + 0.008f)))
        {
        bus->GPWS = Bus::GpwsEnum::Mode1_Sink_Rate;
        }
        }
        */

        /*
        // Mode 2A - Excessive terrain closure rate (not landing)
        if (bus->RadioAltitude <= 0.609f && !bus->LandingGearExtended) // 2000'
        {
        if (bus->GPWS > Bus::GpwsEnum::Mode2a_Pull_Up &&
        (-bus->TerrainClosureRate > (bus->RadioAltitude*0.020997f + 0.011f) ||
        (-bus->TerrainClosureRate > 0.019f && bus->RadioAltitude<0.381f)))
        {
        bus->GPWS = Bus::GpwsEnum::Mode2a_Pull_Up;
        }
        else if (bus->GPWS>Bus::GpwsEnum::Mode2a_Terrain_Terrain &&
        (-bus->TerrainClosureRate > (bus->RadioAltitude*0.020997f + 0.010f) ||
        (bus->RadioAltitude >= 0.381f && -bus->TerrainClosureRate > ((bus->RadioAltitude - 0.381f)*0.144408f + 0.018f))))
        {
        bus->GPWS = Bus::GpwsEnum::Mode2a_Terrain_Terrain;
        }
        }

        // Mode 2B - Excessive terrain closure rate (landing config)
        if (bus->RadioAltitude >= 0.061f && bus->RadioAltitude<0.241f && bus->LandingGearExtended) // 200' to 790'
        {
        if (bus->GPWS>Bus::GpwsEnum::Mode2b_Pull_Up &&
        (-bus->TerrainClosureRate > ((bus->RadioAltitude - 0.061f) / 0.12184f*0.002538f + 0.01523f) || // front side of pull up envelope
        (-bus->TerrainClosureRate > 0.017768f && -bus->TerrainClosureRate<((bus->RadioAltitude - 0.061f) / 0.12184f*0.03046f + 0.017768f)))) // backside of pull up envelope
        {
        bus->GPWS = Bus::GpwsEnum::Mode2b_Pull_Up;
        }
        else if (bus->GPWS>Bus::GpwsEnum::Mode2b_Terrain_Terrain &&
        (-bus->TerrainClosureRate > ((bus->RadioAltitude - 0.061f) / 0.18f*0.002538f + 0.012692f) || // front side of terrain terrain envelope
        (-bus->TerrainClosureRate > 0.01523f && -bus->TerrainClosureRate < ((bus->RadioAltitude - 0.118793f) / 0.12184f*0.035537f + 0.01523f)))) // backside of terrain terrain envelope
        {
        bus->GPWS = Bus::GpwsEnum::Mode2b_Terrain_Terrain;
        }
        }
        */

        // Mode 3? Altitude loss after takeoff (don't sink)

        /*
        // Mode 4A - Unsafe terrain clearance with gear not down AND DECENDING
        // http://rise.unistellar.com/jira/view.php?id=457
        if (bus->RadioAltitude<0.304599f && !bus->LandingGearExtended && bus->VerticalSpeed <= 0.0f)
        {
        if (bus->GPWS>Bus::GpwsEnum::Mode4a_Too_Low_Terrain && bus->IndicatedAirspeed<0.118369f && bus->IndicatedAirspeed>((bus->RadioAltitude - 0.1523f) / 0.1523f*0.010059f + 0.0977837f))
        {
        bus->GPWS = Bus::GpwsEnum::Mode4a_Too_Low_Terrain;
        }
        if (bus->GPWS > Bus::GpwsEnum::Mode4a_Too_Low_Gear && bus->IndicatedAirspeed < 0.0977837f && bus->RadioAltitude < 0.1523f) // 190 kts and 500'
        {
        bus->GPWS = Bus::GpwsEnum::Mode4a_Too_Low_Gear;
        }
        }

        // Mode 4B?
        // Mode 4C?
        */

        // Mode 5a soft single glideslope below 1000' RA and 1.3 dots or more BELOW the beam... each additional 20% causes a new aural warning
        // Mode 5b hard repeat glideslope below 300' RA and 2 dots or greater deviation until less than 1.3 dots

        if (bus->RadioAltitude < 0.3048f && bus->GlideslopeDeviation <= D3DXToRadian(-1.3f * 0.35f)) // 1.3 dots , 1 dot I think is .35 degrees which is half-scale
        {
                if (bus->GPWS > Bus::GpwsEnum::Mode5a_Glideslope)
                {
                        bus->GPWS = Bus::GpwsEnum::Mode5a_Glideslope;
                }
        }
        if (bus->RadioAltitude < 0.09144f && fabsf(bus->GlideslopeDeviation) >= D3DXToRadian(2.0f * 0.35f))
        {
                if (bus->GPWS > Bus::GpwsEnum::Mode5b_Glideslope)
                {
                        bus->GPWS = Bus::GpwsEnum::Mode5b_Glideslope;
                }
        }


        // Mode 6 - Callout Bank Angle
        /*
        • ±10 degrees between 5 and 30 feet AGL,
        • ±10 to ±40 degrees between 30 and 150 feet AGL,
        • ±40 to ±55 degrees between 150 and 2450 feet AGL,
        • ±55 degrees above 2450 feet AGL,
        With the AutoPilot engaged, bank angles exceeding:
        • ±10 degrees between 5 and 30 feet AGL,
        • ±10 to ±33 degrees between 30 and 122 feet AGL,
        • ±33 degrees above 122 feet AGL,
        Once the initial roll limit is exceeded, the “BANK ANGLE, BANK
        ANGLE” callout is given once. Another callout is not given until
        either:
        1) a 20% increase in roll is detected, or
        2) the aircraft rolls below the initial roll limit (resetting the process)
        and initial roll limit is exceeded again.
        If the 20% increase in roll is exceeded (causing the second bank
        angle alert), another callout is not given until either:
        1) another 20% increase in roll is detected, or
        2) the aircraft rolls below the initial roll limit and another (resetting
        the process) and the initial roll is exceeded again.
        Above the second 20% increase in roll, the callout is continuous
        until roll is reduced below this second 20% limit.
        If roll rate exceeds the audio callout time, then the bypassed
        limit is not indicated (e.g., if a 20% increase is exceeded before
        the initial roll limit callout can be completed).
        */
        if (fabsf(bus->RollAttitude) >= 0.96f)
        {
                if (bus->GPWS > Bus::GpwsEnum::Mode6_Bank_Angle)
                {
                        bus->GPWS = Bus::GpwsEnum::Mode6_Bank_Angle;
                }
        }

        static float oldradioaltitude = bus->RadioAltitude;
        if (bus->waypoints.size() > 0 && bus->waypoints.at(0).type == Waypoint::WaypointType::TouchdownZone)
        {
                if (oldradioaltitude >= 0.003048f && bus->RadioAltitude < 0.003048f && bus->GPWS > Bus::GpwsEnum::Mode6_Ten)
                        bus->GPWS = Bus::GpwsEnum::Mode6_Ten;
                else if (oldradioaltitude >= 0.006096f && bus->RadioAltitude < 0.006096f && bus->GPWS > Bus::GpwsEnum::Mode6_Twenty)
                        bus->GPWS = Bus::GpwsEnum::Mode6_Twenty;
                else if (oldradioaltitude >= 0.009144f && bus->RadioAltitude < 0.009144f && bus->GPWS > Bus::GpwsEnum::Mode6_Thirty)
                        bus->GPWS = Bus::GpwsEnum::Mode6_Thirty;
                else if (oldradioaltitude >= 0.012192f && bus->RadioAltitude < 0.012192f && bus->GPWS > Bus::GpwsEnum::Mode6_Fourty)
                        bus->GPWS = Bus::GpwsEnum::Mode6_Fourty;
                else if (oldradioaltitude >= 0.01524f && bus->RadioAltitude < 0.01524f && bus->GPWS > Bus::GpwsEnum::Mode6_Fifty)
                        bus->GPWS = Bus::GpwsEnum::Mode6_Fifty;
                else if (oldradioaltitude >= 0.03048f && bus->RadioAltitude < 0.03048f && bus->GPWS > Bus::GpwsEnum::Mode6_One_Hundred)
                        bus->GPWS = Bus::GpwsEnum::Mode6_One_Hundred;
                else if (oldradioaltitude >= 0.06096f && bus->RadioAltitude < 0.06096f && bus->GPWS > Bus::GpwsEnum::Mode6_Two_Hundred)
                        bus->GPWS = Bus::GpwsEnum::Mode6_Two_Hundred;
                else if (oldradioaltitude >= 0.1524f && bus->RadioAltitude < 0.1524f && bus->GPWS > Bus::GpwsEnum::Mode6_Five_Hundred)
                        bus->GPWS = Bus::GpwsEnum::Mode6_Five_Hundred;
                else if (oldradioaltitude >= 0.3048f && bus->RadioAltitude < 0.3048f && bus->GPWS > Bus::GpwsEnum::Mode6_One_Thousand)
                        bus->GPWS = Bus::GpwsEnum::Mode6_One_Thousand;
//              else if (bus->RadioAltitude < 0.01524f && (bus->EngineThrustCommand[0]>0.0f || bus->EngineThrustCommand[1] > 0.0f))
        //              bus->GPWS = Bus::GpwsEnum::Mode6_Retard;
        }


        oldradioaltitude = bus->RadioAltitude;

        //if (bus->RadioAltitude > 0.00913798f && bus->RadioAltitude<0.761499f) // 30' to 2500'
        //{
        //      if (bus->GPWS>Bus::GpwsEnum::Mode6_Bank_Angle && // alt-30' divided by 120' times 30° plus 10°
        //              (bus->RadioAltitude<0.0456899f && fabsf(bus->RollAttitude)>((bus->RadioAltitude - 0.00913798f) / 0.0365519f*0.523599f + 0.174532925f) ||
        //              bus->RadioAltitude > 0.0456899f && fabsf(bus->RollAttitude) > ((bus->RadioAltitude - 0.0456899f) / 0.715809f*0.261799f + 0.6981317f) ||
        //              fabsf(bus->PitchAttitude) > 1.570796f)) // >90° or <-90° is upside-down
        //      {
        //              bus->GPWS = Bus::GpwsEnum::Mode6_Bank_Angle;
        //      }
        //}
        
        Command command;
        switch (bus->GPWS)
        {
        case Bus::NoAlert: 
                break;
        case Bus::Reset: 
                bus->GPWS = Bus::GpwsEnum::NoAlert; 
                break;
        case Bus::GpwsEnum::Mode5a_Glideslope:
        case Bus::GpwsEnum::Mode5b_Glideslope:
                if (secsincelast < 2.0f) return; secsincelast = 0.0f; // keep from repeating too fast
                command.name = "Glideslope";
                bus->commandStream.push_back(command);
                break;
        case Bus::GpwsEnum::Mode6_Bank_Angle:
                if (secsincelast < 2.0f) return; secsincelast = 0.0f; // keep from repeating too fast
                command.name = "GPWSBankAngle";
                bus->commandStream.push_back(command);
                break;
        case Bus::GpwsEnum::Mode6_Retard:
                if (secsincelast < 0.648f) return; secsincelast = 0.0f; // keep from repeating too fast
                command.name = "GPWSMode6Retard";
                command.ttl = 0.648f;
                bus->commandStream.push_back(command);
                break;
        case Bus::GpwsEnum::Mode6_Ten:
                if (secsincelast < 0.431f) return; secsincelast = 0.0f; // buffer from twenty
                command.name = "GPWSMode6Ten";
                command.ttl = 0.431f;
                bus->commandStream.push_back(command);
                break;
        case Bus::GpwsEnum::Mode6_Twenty:
                if (secsincelast < 0.449f) return; secsincelast = 0.0f; // buffer from thirty
                command.name = "GPWSMode6Twenty";
                command.ttl = 0.449f;
                bus->commandStream.push_back(command);
                break;
        case Bus::GpwsEnum::Mode6_Thirty:
                if (secsincelast < 0.473f) return; secsincelast = 0.0f; // buffer from fourty
                command.name = "GPWSMode6Thirty";
                command.ttl = 0.473f;
                bus->commandStream.push_back(command);
                break;
        case Bus::GpwsEnum::Mode6_Fourty:
                if (secsincelast < 0.442f) return; secsincelast = 0.0f; // buffer from fifty
                command.name = "GPWSMode6Fourty";
                command.ttl = 0.442f;
                bus->commandStream.push_back(command);
                break;
        case Bus::GpwsEnum::Mode6_Fifty:
                if (secsincelast < 0.613f) return; secsincelast = 0.0f; // buffer from one hundred
                command.name = "GPWSMode6Fifty";
                command.ttl = 0.613f;
                bus->commandStream.push_back(command);
                break;
        case Bus::GpwsEnum::Mode6_One_Hundred:
                if (secsincelast < 0.589f) return; secsincelast = 0.0f; // buffer from two hundred
                command.name = "GPWSMode6OneHundred";
                command.ttl = 0.589f;
                bus->commandStream.push_back(command);
                break;
        case Bus::GpwsEnum::Mode6_Two_Hundred:
                command.name = "GPWSMode6TwoHundred";
                bus->commandStream.push_back(command);
                command.name = "GPWSMode9Minimums"; 
                bus->commandStream.push_back(command);
                break;
        case Bus::GpwsEnum::Mode6_Five_Hundred:
                command.name = "GPWSMode6FiveHundred";
                bus->commandStream.push_back(command);
                break;
        case Bus::GpwsEnum::Mode6_One_Thousand:
                command.name = "GPWSMode6OneThousand";
                bus->commandStream.push_back(command);
                break;
        case Bus::Mode1_Sink_Rate: break;
        case Bus::Mode1_Pull_Up: break;
        case Bus::Mode2a_Terrain_Terrain: break;
        case Bus::Mode2a_Pull_Up: break;
        case Bus::Mode2b_Terrain_Terrain: break;
        case Bus::Mode2b_Pull_Up: break;
        case Bus::Mode2_Terrain: break;
        case Bus::Mode3_Dont_Sink: break;
        case Bus::Mode4a_Too_Low_Terrain: break;
        case Bus::Mode4a_Too_Low_Gear: break;
        case Bus::Mode4b_Too_Low_Terrain: break;
        case Bus::Mode4b_Too_Low_Flaps: break;
        case Bus::Mode4c_Too_Low_Terrain: break;
        case Bus::Mode6_Minimums_Minimums: break;
        case Bus::Mode6_Caution_Terrain: break;
        case Bus::Mode6_Caution_Obstacle: break;
        default: break;
        }
}