src/Computer/FlyingComputer.hpp

   1 /*
   2 Copyright_License {
   3
   4   XCSoar Glide Computer - http://www.xcsoar.org/
   5   Copyright (C) 2000-2013 The XCSoar Project
   6   A detailed list of copyright holders can be found in the file "AUTHORS".
   7
   8   This program is free software; you can redistribute it and/or
   9   modify it under the terms of the GNU General Public License
  10   as published by the Free Software Foundation; either version 2
  11   of the License, or (at your option) any later version.
  12
  13   This program is distributed in the hope that it will be useful,
  14   but WITHOUT ANY WARRANTY; without even the implied warranty of
  15   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  16   GNU General Public License for more details.
  17
  18   You should have received a copy of the GNU General Public License
  19   along with this program; if not, write to the Free Software
  20   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
  21 }
  22 */
  23
  24 #ifndef XCSOAR_FLYING_COMPUTER_HPP
  25 #define XCSOAR_FLYING_COMPUTER_HPP
  26
  27 #include "StateClock.hpp"
  28 #include "Math/fixed.hpp"
  29 #include "Geo/GeoPoint.hpp"
  30 #include "DeltaTime.hpp"
  31
  32 struct NMEAInfo;
  33 struct DerivedInfo;
  34 struct AircraftState;
  35 struct FlyingState;
  36
  37 /**
  38  * Detect takeoff and landing.
  39  */
  40 class FlyingComputer {
  41   DeltaTime delta_time;
  42
  43   /**
  44    * Tracks the duration the aircraft has been stationary.
  45    */
  46   StateClock<60, 5> stationary_clock;
  47
  48   /**
  49    * Tracks the duration the aircraft has been moving.
  50    */
  51   StateClock<30, 5> moving_clock;
  52
  53   /**
  54    * Tracks the duration the aircraft has been climbing.  If the
  55    * aircraft has been climbing for a certain amount of time, it is
  56    * assumed that it is still flying, even if the ground speed is
  57    * small (for example, when flying in a wave without airspeed
  58    * input).
  59    */
  60   StateClock<20, 5> climbing_clock;
  61
  62   /**
  63    * If the aircraft is currenly assumed to be moving, then this
  64    * denotes the initial moving time stamp.  This gets reset to a
  65    * negative value when the aircraft is stationary for a certain
  66    * amount of time.
  67    */
  68   fixed moving_since;
  69
  70   /**
  71    * If the aircraft is currently assumed to be moving, then this
  72    * denotes the location when moving started initially.  This
  73    * attribute is only valid if #moving_since is non-negative.
  74    */
  75   GeoPoint moving_at;
  76
  77   fixed stationary_since;
  78   GeoPoint stationary_at;
  79
  80   fixed climbing_altitude;
  81
  82   fixed sinking_since;
  83
  84   GeoPoint sinking_location;
  85
  86   fixed sinking_altitude;
  87
  88   /**
  89    * The last altitude when the aircraft was supposed to be on the
  90    * ground.  This is usually the elevation of the take-off airfield.
  91    *
  92    * A negative value means unknown.  Sorry for these few airfields
  93    * that are below MSL ...
  94    */
  95   fixed last_ground_altitude;
  96
  97 public:
  98   void Reset();
  99
 100   void Compute(fixed takeoff_speed,
 101                const NMEAInfo &basic,
 102                const DerivedInfo &calculated,
 103                FlyingState &flying);
 104
 105   void Compute(fixed takeoff_speed,
 106                const AircraftState &state, fixed dt,
 107                FlyingState &flying);
 108
 109   /**
 110    * Finish the landing detection.  If landing has not been detected,
 111    * but the aircraft has not been moving, this force-detects the
 112    * landing now.  Call at the end of a replay.
 113    */
 114   void Finish(FlyingState &flying, fixed time);
 115
 116 protected:
 117   void CheckRelease(FlyingState &state, fixed time, const GeoPoint &location,
 118                     fixed altitude);
 119
 120   /**
 121    * Check for monotonic climb.  This check is used for "flying"
 122    * detection in a wave, when ground speed is low, no airspeed is
 123    * available and no map was loaded.
 124    *
 125    * @return true if the aircraft has been climbing for more than 10
 126    * seconds
 127    */
 128   bool CheckClimbing(fixed dt, fixed altitude);
 129
 130   void Check(FlyingState &state, fixed time);
 131
 132   /**
 133    * Update flying state when moving
 134    *
 135    * @param time Time the aircraft is moving
 136    */
 137   void Moving(FlyingState &state, fixed time, fixed dt,
 138               const GeoPoint &location);
 139
 140   /**
 141    * Update flying state when stationary
 142    *
 143    * @param time Time the aircraft is stationary
 144    * @param on_ground Whether the aircraft is known to be on the ground
 145    */
 146   void Stationary(FlyingState &state, fixed time, fixed dt,
 147                   const GeoPoint &location);
 148 };
 149
 150 #endif