mk_viii.cxx

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// mk_viii.cxx -- Honeywell MK VIII EGPWS emulation
//
// Written by Jean-Yves Lefort, started September 2005.
//
// Copyright (C) 2005, 2006  Jean-Yves Lefort - jylefort@FreeBSD.org
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301, USA.
//
//
// References:
//
//    [PILOT]        Honeywell International Inc., "MK VI and MK VIII,
//            Enhanced Ground Proximity Warning System (EGPWS),
//            Pilot's Guide", May 2004
//
//            http://www.egpws.com/engineering_support/documents/pilot_guides/060-4314-000.pdf
//
//    [SPEC]        Honeywell International Inc., "Product Specification
//            for the MK VI and MK VIII Enhanced Ground Proximity
//            Warning System (EGPWS)", June 2004
//
//            http://www.egpws.com/engineering_support/documents/specs/965-1180-601.pdf
//
//    [INSTALL]    Honeywell Inc., "MK VI, MK VIII, Enhanced Ground
//            Proximity Warning System (Class A TAWS), Installation
//            Design Guide", July 2003
//
//            http://www.egpws.com/engineering_support/documents/install/060-4314-150.pdf
//
// Notes:
//
//    [1]        [SPEC] does not specify the "must be airborne"
//            condition; we use it to make sure that the alert
//            will not trigger when on the ground, since it would
//            make no sense.
 
#ifdef _MSC_VER
#  pragma warning( disable: 4355 )
#endif
 
#include <config.h>
 
#include <stdio.h>
#include <string.h>
#include <assert.h>
#include <cmath>
 
#include <string>
#include <sstream>
 
#include <simgear/constants.h>
#include <simgear/sg_inlines.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/SGMathFwd.hxx>
#include <simgear/math/SGLimits.hxx>
#include <simgear/math/SGGeometryFwd.hxx>
#include <simgear/math/SGGeodesy.hxx>
#include <simgear/math/sg_random.hxx>
#include <simgear/math/SGLineSegment.hxx>
#include <simgear/math/SGIntersect.hxx>
#include <simgear/misc/sg_path.hxx>
#include <simgear/sound/soundmgr.hxx>
#include <simgear/sound/sample_group.hxx>
#include <simgear/structure/exception.hxx>
 
using std::string;
 
#include <Airports/runways.hxx>
#include <Airports/airport.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
#include "instrument_mgr.hxx"
#include "mk_viii.hxx"

// constants //////////////////////////////////////////////////////////////////
 
#define GLIDESLOPE_DOTS_TO_DDM      0.0875      // [INSTALL] 6.2.30
#define GLIDESLOPE_DDM_TO_DOTS      (1 / GLIDESLOPE_DOTS_TO_DDM)
 
#define LOCALIZER_DOTS_TO_DDM       0.0775      // [INSTALL] 6.2.33
#define LOCALIZER_DDM_TO_DOTS       (1 / LOCALIZER_DOTS_TO_DDM)

// helpers ////////////////////////////////////////////////////////////////////
 
#define assert_not_reached()        assert(false)
#define n_elements(_array)          (sizeof(_array) / sizeof((_array)[0]))
#define test_bits(_bits, _test)     (((_bits) & (_test)) != 0)
 
#define mk_node(_name)              (mk->properties_handler.external_properties._name)
 
#define mk_dinput_feed(_name)       (mk->io_handler.input_feeders.discretes._name)
#define mk_dinput(_name)            (mk->io_handler.inputs.discretes._name)
#define mk_ainput_feed(_name)       (mk->io_handler.input_feeders.arinc429._name)
#define mk_ainput(_name)            (mk->io_handler.inputs.arinc429._name)
#define mk_doutput(_name)           (mk->io_handler.outputs.discretes._name)
#define mk_aoutput(_name)           (mk->io_handler.outputs.arinc429._name)
#define mk_data(_name)              (mk->io_handler.data._name)
 
#define mk_voice(_name)             (mk->voice_player.voices._name)
#define mk_altitude_voice(_i)       (mk->voice_player.voices.altitude_callouts[(_i)])
 
#define mk_alert(_name)             (AlertHandler::ALERT_ ## _name)
#define mk_alert_flag(_name)        (AlertHandler::ALERT_FLAG_ ## _name)
#define mk_set_alerts               (mk->alert_handler.set_alerts)
#define mk_unset_alerts             (mk->alert_handler.unset_alerts)
#define mk_repeat_alert             (mk->alert_handler.repeat_alert)
#define mk_test_alert(_name)        (mk_test_alerts(mk_alert(_name)))
#define mk_test_alerts(_test)       (test_bits(mk->alert_handler.alerts, (_test)))
 
const double MK_VIII::TCFHandler::k = 0.25;
 
static double
modify_amplitude (double amplitude, double dB)
{
    return amplitude * pow(10.0, dB / 20.0);
}
 
static double
get_heading_difference (double h1, double h2)
{
    double diff = h1 - h2;
 
    if (diff < -180)
        diff += 360;
    else if (diff > 180)
        diff -= 360;
 
    return fabs(diff);
}

// PropertiesHandler //////////////////////////////////////////////////////////
 
void
MK_VIII::PropertiesHandler::init ()
{
    mk_node(ai_caged) = fgGetNode("/instrumentation/attitude-indicator/caged-flag", true);
    mk_node(ai_roll) = fgGetNode("/instrumentation/attitude-indicator/indicated-roll-deg", true);
    mk_node(ai_serviceable) = fgGetNode("/instrumentation/attitude-indicator/serviceable", true);
    mk_node(altimeter_altitude) = fgGetNode("/instrumentation/altimeter/indicated-altitude-ft", true);
    mk_node(altimeter_serviceable) = fgGetNode("/instrumentation/altimeter/serviceable", true);
    mk_node(altitude) = fgGetNode("/position/altitude-ft", true);
    mk_node(altitude_agl) = fgGetNode("/position/altitude-agl-ft", true);
    mk_node(altitude_gear_agl) = fgGetNode("/position/gear-agl-ft", true);
    mk_node(altitude_radar_agl) = fgGetNode("/instrumentation/radar-altimeter/radar-altitude-ft", true);
    mk_node(orientation_roll) = fgGetNode("/orientation/roll-deg", true);
    mk_node(asi_serviceable) = fgGetNode("/instrumentation/airspeed-indicator/serviceable", true);
    mk_node(asi_speed) = fgGetNode("/instrumentation/airspeed-indicator/indicated-speed-kt", true);
    mk_node(autopilot_heading_lock) = fgGetNode("/autopilot/locks/heading", true);
    mk_node(flaps) = fgGetNode("/controls/flight/flaps", true);
    mk_node(gear_down) = fgGetNode("/controls/gear/gear-down", true);
    mk_node(throttle) = fgGetNode("/controls/engines/engine/throttle", true);
    mk_node(latitude) = fgGetNode("/position/latitude-deg", true);
    mk_node(longitude) = fgGetNode("/position/longitude-deg", true);
    mk_node(nav0_cdi_serviceable) = fgGetNode("/instrumentation/nav/cdi/serviceable", true);
    mk_node(nav0_gs_distance) = fgGetNode("/instrumentation/nav/gs-distance", true);
    mk_node(nav0_gs_needle_deflection) = fgGetNode("/instrumentation/nav/gs-needle-deflection-deg", true);
    mk_node(nav0_gs_serviceable) = fgGetNode("/instrumentation/nav/gs/serviceable", true);
    mk_node(nav0_has_gs) = fgGetNode("/instrumentation/nav/has-gs", true);
    mk_node(nav0_heading_needle_deflection) = fgGetNode("/instrumentation/nav/heading-needle-deflection", true);
    mk_node(nav0_in_range) = fgGetNode("/instrumentation/nav/in-range", true);
    mk_node(nav0_nav_loc) = fgGetNode("/instrumentation/nav/nav-loc", true);
    mk_node(nav0_serviceable) = fgGetNode("/instrumentation/nav/serviceable", true);
    mk_node(power) = fgGetNode(("/systems/electrical/outputs/" + mk->name), mk->num, true);
    mk_node(replay_state) = fgGetNode("/sim/freeze/replay-state", true);
    mk_node(vs) = fgGetNode("/velocities/vertical-speed-fps", true);
}

// PowerHandler ///////////////////////////////////////////////////////////////
 
void
MK_VIII::PowerHandler::bind (SGPropertyNode *node)
{
    mk->properties_handler.tie(node, "serviceable", SGRawValuePointer<bool>(&serviceable));
}
 
bool
MK_VIII::PowerHandler::handle_abnormal_voltage (bool abnormal,
                                                Timer *timer,
                                                double max_duration)
{
    if (abnormal)
    {
        if (timer->start_or_elapsed() >= max_duration)
            return true;  // power loss
    } else
        timer->stop();
 
    return false;
}
 
void
MK_VIII::PowerHandler::update ()
{
    double voltage = mk_node(power)->getDoubleValue();
    bool now_powered = true;
 
    // [SPEC] 3.2.1
 
    if (!serviceable)
        now_powered = false;
    if (voltage < 15)
        now_powered = false;
    if (handle_abnormal_voltage(voltage < 20.5, &low_surge_timer, 0.03))
        now_powered = false;
    if (handle_abnormal_voltage(voltage < 22.0 || voltage > 30.3,
            &abnormal_timer, 300))
        now_powered = false;
    if (handle_abnormal_voltage(voltage > 32.2, &high_surge_timer, 1))
        now_powered = false;
    if (handle_abnormal_voltage(voltage > 37.8, &very_high_surge_timer, 0.1))
        now_powered = false;
    if (voltage > 46.3)
        now_powered = false;
 
    if (powered)
    {
        // [SPEC] 3.5.2
 
        if (now_powered)
            power_loss_timer.stop();
        else {
            if (power_loss_timer.start_or_elapsed() >= 0.2)
                power_off();
        }
    } else
    {
        if (now_powered)
            power_on();
    }
}
 
void
MK_VIII::PowerHandler::power_on ()
{
    powered = true;
    mk->system_handler.power_on();
}
 
void
MK_VIII::PowerHandler::power_off ()
{
    powered = false;
    mk->system_handler.power_off();
    mk->voice_player.stop(VoicePlayer::STOP_NOW);
    mk->self_test_handler.power_off(); // run before IOHandler::power_off()
    mk->io_handler.power_off();
    mk->mode2_handler.power_off();
    mk->mode6_handler.power_off();
}

// SystemHandler //////////////////////////////////////////////////////////////
 
void
MK_VIII::SystemHandler::power_on ()
{
    state = STATE_BOOTING;
 
    // [SPEC] 3.5.2 mentions a 20 seconds maximum boot delay. We use a
    // random delay between 3 and 5 seconds.
 
    boot_delay = 3 + sg_random() * 2;
    boot_timer.start();
}
 
void
MK_VIII::SystemHandler::power_off ()
{
    state = STATE_OFF;
 
    boot_timer.stop();
}
 
void
MK_VIII::SystemHandler::update ()
{
    if (state == STATE_BOOTING)
    {
        if (boot_timer.elapsed() >= boot_delay)
        {
            last_replay_state = mk_node(replay_state)->getIntValue();
 
            mk->configuration_module.boot();
 
            mk->io_handler.boot();
            mk->fault_handler.boot();
            mk->alert_handler.boot();
 
            // inputs are needed by the following boot() routines
            mk->io_handler.update_inputs();
 
            mk->mode2_handler.boot();
            mk->mode6_handler.boot();
 
            state = STATE_ON;
 
            mk->io_handler.post_boot();
        }
    }
    else if (state != STATE_OFF && mk->configuration_module.state == ConfigurationModule::STATE_OK)
    {
        // If the replay state changes, switch to reposition mode for 3
        // seconds ([SPEC] 6.0.5) to avoid spurious alerts.
 
        int replay_state = mk_node(replay_state)->getIntValue();
        if (replay_state != last_replay_state)
        {
            mk->alert_handler.reposition();
            mk->io_handler.reposition();
 
            last_replay_state = replay_state;
            state = STATE_REPOSITION;
            reposition_timer.start();
        }
 
        if (state == STATE_REPOSITION && reposition_timer.elapsed() >= 3)
        {
            // inputs are needed by StateHandler::post_reposition()
            mk->io_handler.update_inputs();
 
            mk->state_handler.post_reposition();
 
            state = STATE_ON;
        }
    }
}

// ConfigurationModule ////////////////////////////////////////////////////////
 
MK_VIII::ConfigurationModule::ConfigurationModule (MK_VIII *device)
    : state(STATE_OK), mk(device)
{
    // arbitrary defaults
    categories[CATEGORY_AIRCRAFT_MODE_TYPE_SELECT] = 0;
    categories[CATEGORY_AIR_DATA_INPUT_SELECT] = 1;
    categories[CATEGORY_POSITION_INPUT_SELECT] = 2;
    categories[CATEGORY_ALTITUDE_CALLOUTS] = 13;
    categories[CATEGORY_AUDIO_MENU_SELECT] = 0;
    categories[CATEGORY_TERRAIN_DISPLAY_SELECT] = 1;
    categories[CATEGORY_OPTIONS_SELECT_GROUP_1] = 124;
    categories[CATEGORY_RADIO_ALTITUDE_INPUT_SELECT] = 2;
    categories[CATEGORY_NAVIGATION_INPUT_SELECT] = 3;
    categories[CATEGORY_ATTITUDE_INPUT_SELECT] = 6;
    categories[CATEGORY_HEADING_INPUT_SELECT] = 2;
    categories[CATEGORY_WINDSHEAR_INPUT_SELECT] = 0;
    categories[CATEGORY_INPUT_OUTPUT_DISCRETE_TYPE_SELECT] = 7;
    categories[CATEGORY_AUDIO_OUTPUT_LEVEL] = 0;
    categories[CATEGORY_UNDEFINED_INPUT_SELECT_1] = 0;
    categories[CATEGORY_UNDEFINED_INPUT_SELECT_2] = 0;
    categories[CATEGORY_UNDEFINED_INPUT_SELECT_3] = 0;
}
 
static double m1_t1_min_agl1 (double vs) { return -1620 - 1.1133 * vs; }
static double m1_t1_min_agl2 (double vs) { return -400 - 0.4 * vs; }
static double m1_t4_min_agl1 (double vs) { return -1625.47 - 1.1167 * vs; }
static double m1_t4_min_agl2 (double vs) { return -0.1958 * vs; }
 
static int m3_t1_max_agl (bool flap_override) { return 1500; }
static double m3_t1_max_alt_loss (bool flap_override, double agl) { return 5.4 + 0.092 * agl; }
static int m3_t2_max_agl (bool flap_override) { return flap_override ? 815 : 925; }
static double m3_t2_max_alt_loss (bool flap_override, double agl)
{
    int bias = agl > 700 ? 5 : 0;
 
    if (flap_override)
        return (9.0 + 0.184 * agl) + bias;
    else
        return (5.4 + 0.092 * agl) + bias;
}
 
static double m4_t1_min_agl2 (double airspeed) { return -1083 + 8.333 * airspeed; }
static double m4_t568_a_min_agl2 (double airspeed) { return -1523 + 11.36 * airspeed; }
static double m4_t79_a_min_agl2 (double airspeed) { return -1182 + 11.36 * airspeed; }
static double m4_t568_b_min_agl2 (double airspeed) { return -1570 + 11.6 * airspeed; }
static double m4_t79_b_min_agl2 (double airspeed) { return -1222 + 11.6 * airspeed; }
 
bool
MK_VIII::ConfigurationModule::m6_t2_is_bank_angle (Parameter<double> *agl,
                           double abs_roll_deg,
                           bool ap_engaged)
{
    if (ap_engaged)
    {
        if (agl->ncd || agl->get() > 122)
            return abs_roll_deg > 33;
    }
    else
    {
        if (agl->ncd || agl->get() > 2450)
            return abs_roll_deg > 55;
        else if (agl->get() > 150)
            return agl->get() < 153.33333 * abs_roll_deg - 5983.3333;
    }
 
    if (agl->get() > 30)
        return agl->get() < 4 * abs_roll_deg - 10;
    else if (agl->get() > 5)
        return abs_roll_deg > 10;
 
    return false;
}
 
bool
MK_VIII::ConfigurationModule::m6_t4_is_bank_angle (Parameter<double> *agl,
                           double abs_roll_deg,
                           bool ap_engaged)
{
    if (ap_engaged)
    {
        if (agl->ncd || agl->get() > 156)
            return abs_roll_deg > 33;
    }
    else
    {
        if (agl->ncd || agl->get() > 210)
            return abs_roll_deg > 50;
    }
 
    if (agl->get() > 10)
        return agl->get() < 5.7142857 * abs_roll_deg - 75.714286;
 
    return false;
}
 
bool
MK_VIII::ConfigurationModule::read_aircraft_mode_type_select (int value)
{
    static const Mode1Handler::EnvelopesConfiguration m1_t1 =
        { false, 10, m1_t1_min_agl1, 284, m1_t1_min_agl2, 2450 };
    static const Mode1Handler::EnvelopesConfiguration m1_t4 =
        { true, 50, m1_t4_min_agl1, 346, m1_t4_min_agl2, 1958 };
 
    static const Mode2Handler::Configuration m2_t1 = { 190, 280 };
    static const Mode2Handler::Configuration m2_t4 = { 220, 310 };
    static const Mode2Handler::Configuration m2_t5 = { 220, 310 };
 
    static const Mode3Handler::Configuration m3_t1 =
        { 30, m3_t1_max_agl, m3_t1_max_alt_loss };
    static const Mode3Handler::Configuration m3_t2 =
        { 50, m3_t2_max_agl, m3_t2_max_alt_loss };
 
    static const Mode4Handler::EnvelopesConfiguration m4_t1_ac =
        { 190, 250, 500, m4_t1_min_agl2, 1000 };
    static const Mode4Handler::EnvelopesConfiguration m4_t5_ac =
        { 178, 200, 500, m4_t568_a_min_agl2, 1000 };
    static const Mode4Handler::EnvelopesConfiguration m4_t68_ac =
        { 178, 200, 500, m4_t568_a_min_agl2, 750 };
    static const Mode4Handler::EnvelopesConfiguration m4_t79_ac =
        { 148, 170, 500, m4_t79_a_min_agl2, 750 };
 
    static const Mode4Handler::EnvelopesConfiguration m4_t1_b =
        { 159, 250, 245, m4_t1_min_agl2, 1000 };
    static const Mode4Handler::EnvelopesConfiguration m4_t5_b =
        { 148, 200, 200, m4_t568_b_min_agl2, 1000 };
    static const Mode4Handler::EnvelopesConfiguration m4_t6_b =
        { 150, 200, 170, m4_t568_b_min_agl2, 750 };
    static const Mode4Handler::EnvelopesConfiguration m4_t7_b =
        { 120, 170, 170, m4_t79_b_min_agl2, 750 };
    static const Mode4Handler::EnvelopesConfiguration m4_t8_b =
        { 148, 200, 150, m4_t568_b_min_agl2, 750 };
    static const Mode4Handler::EnvelopesConfiguration m4_t9_b =
        { 118, 170, 150, m4_t79_b_min_agl2, 750 };
 
    static const Mode4Handler::ModesConfiguration m4_t1 = { &m4_t1_ac, &m4_t1_b };
    static const Mode4Handler::ModesConfiguration m4_t5 = { &m4_t5_ac, &m4_t5_b };
    static const Mode4Handler::ModesConfiguration m4_t6 = { &m4_t68_ac, &m4_t6_b };
    static const Mode4Handler::ModesConfiguration m4_t7 = { &m4_t79_ac, &m4_t7_b };
    static const Mode4Handler::ModesConfiguration m4_t8 = { &m4_t68_ac, &m4_t8_b };
    static const Mode4Handler::ModesConfiguration m4_t9 = { &m4_t79_ac, &m4_t9_b };
 
    static Mode6Handler::BankAnglePredicate m6_t2 = m6_t2_is_bank_angle;
    static Mode6Handler::BankAnglePredicate m6_t4 = m6_t4_is_bank_angle;
 
    static const IOHandler::FaultsConfiguration f_slow = { 180, 200 };
    static const IOHandler::FaultsConfiguration f_fast = { 250, 290 };
 
    static const struct
    {
        int                                         type;
        const Mode1Handler::EnvelopesConfiguration  *m1;
        const Mode2Handler::Configuration           *m2;
        const Mode3Handler::Configuration           *m3;
        const Mode4Handler::ModesConfiguration      *m4;
        Mode6Handler::BankAnglePredicate            m6;
        const IOHandler::FaultsConfiguration        *f;
        int                                         runway_database;
    } aircraft_types[] = {
        {   0, &m1_t4, &m2_t4, &m3_t2, &m4_t6, m6_t4, &f_fast, 2000 },
        {   1, &m1_t4, &m2_t4, &m3_t2, &m4_t8, m6_t4, &f_fast, 2000 },
        {   2, &m1_t4, &m2_t4, &m3_t2, &m4_t5, m6_t4, &f_fast, 2000 },
        {   3, &m1_t4, &m2_t5, &m3_t2, &m4_t7, m6_t4, &f_slow, 2000 },
        {   4, &m1_t4, &m2_t5, &m3_t2, &m4_t9, m6_t4, &f_slow, 2000 },
        { 254, &m1_t1, &m2_t1, &m3_t1, &m4_t1, m6_t2, &f_fast, 3500 },
        { 255, &m1_t1, &m2_t1, &m3_t1, &m4_t1, m6_t2, &f_fast, 2000 }
    };
 
    for (size_t i = 0; i < n_elements(aircraft_types); i++)
    {
        if (aircraft_types[i].type == value)
        {
            mk->mode1_handler.conf.envelopes = aircraft_types[i].m1;
            mk->mode2_handler.conf = aircraft_types[i].m2;
            mk->mode3_handler.conf = aircraft_types[i].m3;
            mk->mode4_handler.conf.modes = aircraft_types[i].m4;
            mk->mode6_handler.conf.is_bank_angle = aircraft_types[i].m6;
            mk->io_handler.conf.faults = aircraft_types[i].f;
            mk->conf.runway_database = aircraft_types[i].runway_database;
            return true;
        }
    }
 
    state = STATE_INVALID_AIRCRAFT_TYPE;
    return false;
}
 
bool
MK_VIII::ConfigurationModule::read_air_data_input_select (int value)
{
    // unimplemented
    return (value >= 0 && value <= 6) || (value >= 10 && value <= 13) || value == 255;
}
 
bool
MK_VIII::ConfigurationModule::read_position_input_select (int value)
{
    if (value == 2)
        mk->io_handler.conf.use_internal_gps = true;
    else if ((value >= 0 && value <= 5)
         || (value >= 10 && value <= 13)
         || (value == 253)
         || (value == 255))
        mk->io_handler.conf.use_internal_gps = false;
    else
        return false;
 
    return true;
}
 
bool
MK_VIII::ConfigurationModule::read_altitude_callouts (int value)
{
    enum
    {
        MINIMUMS           = -1,
        SMART_500          = -2,
        FIELD_500          = -3,
        FIELD_500_ABOVE    = -4,
        MINIMUMS_ABOVE_100 = -5,
        RETARD             = -6
    };
 
    static const struct
    {
        int    id;
        int callouts[16];
    } values[] = {
        {  0,  { MINIMUMS, SMART_500, 200, 100, 50, 40, 30, 20, 10, 0 } },
        {  1,  { MINIMUMS, SMART_500, 200, 0 } },
        {  2,  { MINIMUMS, SMART_500, 100, 50, 40, 30, 20, 10, 0 } },
        {  3,  { MINIMUMS, SMART_500, 0 } },
        {  4,  { MINIMUMS, 200, 100, 50, 40, 30, 20, 10, 0 } },
        {  5,  { MINIMUMS, 200, 0 } },
        {  6,  { MINIMUMS, 100, 50, 40, 30, 20, 10, 0 } },
        {  7,  { 0 } },
        {  8,  { MINIMUMS, 0 } },
        {  9,  { MINIMUMS, 500, 200, 100, 50, 40, 30, 20, 10, 0 } },
        {  10, { MINIMUMS, 500, 200, 0 } },
        {  11, { MINIMUMS, 500, 100, 50, 40, 30, 20, 10, 0 } },
        {  12, { MINIMUMS, 500, 0 } },
        {  13, { MINIMUMS, 1000, 500, 400, 300, 200, 100, 50, 40, 30, 20, 10, 0 } },
        {  14, { MINIMUMS, 100, 0 } },
        {  15, { MINIMUMS, 200, 100, 0 } },
        { 100, { FIELD_500, 0 } },
        { 101, { FIELD_500_ABOVE, 0 } },
        {1000, { RETARD, MINIMUMS_ABOVE_100, MINIMUMS, 2500, 1000, 500, 400, 300, 200, 100, 50, 40, 30,20, 10, 0 } },
        {1001, { RETARD,                     MINIMUMS, 2500, 1000, 500, 400, 300, 200, 100, 50, 40, 30,20, 10, 0 } },
        {1002, {                             MINIMUMS, 2500, 1000, 500, 400, 300, 200, 100, 50, 40, 30,20, 10, 0 } },
        {1010, { RETARD, MINIMUMS_ABOVE_100, MINIMUMS,       1000, 500, 400, 300, 200, 100, 50, 40, 30,20, 10, 0 } },
        {1011, { RETARD,                     MINIMUMS,       1000, 500, 400, 300, 200, 100, 50, 40, 30,20, 10, 0 } },
    };
 
    mk->mode6_handler.conf.retard_enabled = false;
    mk->mode6_handler.conf.minimums_above_100_enabled = false;
    mk->mode6_handler.conf.minimums_enabled = false;
    mk->mode6_handler.conf.smart_500_enabled = false;
    mk->mode6_handler.conf.above_field_voice = NULL;
    mk->mode6_handler.conf.altitude_callouts_enabled = 0;
 
    for (unsigned int i = 0; i < n_elements(values); i++)
    {
        if (values[i].id == value)
        {
            for (int j = 0; values[i].callouts[j] != 0; j++)
            {
                switch (values[i].callouts[j])
                {
                case RETARD:
                    mk->mode6_handler.conf.retard_enabled = true;
                    break;
 
                case MINIMUMS_ABOVE_100:
                    mk->mode6_handler.conf.minimums_above_100_enabled = true;
                    break;
 
                case MINIMUMS:
                    mk->mode6_handler.conf.minimums_enabled = true;
                    break;
 
                case SMART_500:
                    mk->mode6_handler.conf.smart_500_enabled = true;
                    break;
 
                case FIELD_500:
                    mk->mode6_handler.conf.above_field_voice = mk_altitude_voice(Mode6Handler::ALTITUDE_CALLOUT_500);
                    break;
 
                case FIELD_500_ABOVE:
                    mk->mode6_handler.conf.above_field_voice = mk_voice(five_hundred_above);
                    break;
 
                default:
                    for (unsigned k = 0; k < n_altitude_callouts; k++)
                        if (mk->mode6_handler.altitude_callout_definitions[k] == values[i].callouts[j])
                            mk->mode6_handler.conf.altitude_callouts_enabled |= 1 << k;
                    break;
                }
            }
 
            return true;
        }
    }
    return false;
}
 
bool
MK_VIII::ConfigurationModule::read_audio_menu_select (int value)
{
    if (value == 0 || value == 1)
        mk->mode4_handler.conf.voice_too_low_gear = mk_voice(too_low_gear);
    else if (value == 2 || value == 3)
        mk->mode4_handler.conf.voice_too_low_gear = mk_voice(too_low_flaps);
    else
        return false;
 
    return true;
}
 
bool
MK_VIII::ConfigurationModule::read_terrain_display_select (int value)
{
    if (value == 2)
        mk->tcf_handler.conf.enabled = false;
    else if (value == 0 || value == 1 || (value >= 3 && value <= 15)
       || (value >= 18 && value <= 20) || (value >= 235 && value <= 255))
        mk->tcf_handler.conf.enabled = true;
    else
        return false;
 
    return true;
}
 
bool
MK_VIII::ConfigurationModule::read_options_select_group_1 (int value)
{
    if (value >= 0 && value < 128)
    {
        mk->io_handler.conf.flap_reversal = test_bits(value, 1 << 1);
        mk->mode6_handler.conf.bank_angle_enabled = test_bits(value, 1 << 2);
        mk->io_handler.conf.steep_approach_enabled = test_bits(value, 1 << 6);
        return true;
    }
 
    return false;
}
 
bool
MK_VIII::ConfigurationModule::read_radio_altitude_input_select (int value)
{
    mk->io_handler.conf.altitude_source = value;
    return (value >= 0 && value <= 4) || (value >= 251 && value <= 255);
}
 
bool
MK_VIII::ConfigurationModule::read_navigation_input_select (int value)
{
    if (value >= 0 && value <= 2)
        mk->io_handler.conf.localizer_enabled = false;
    else if ((value >= 3 && value <= 5) || (value >= 250 && value <= 255))
        mk->io_handler.conf.localizer_enabled = true;
    else
        return false;
 
    return true;
}
 
bool
MK_VIII::ConfigurationModule::read_attitude_input_select (int value)
{
    if (value == 2)
        mk->io_handler.conf.use_attitude_indicator=true;
    else
        mk->io_handler.conf.use_attitude_indicator=false;
    return (value >= 0 && value <= 6) || value == 253 || value == 255;
}
 
bool
MK_VIII::ConfigurationModule::read_heading_input_select (int value)
{
    // unimplemented
    return (value >= 0 && value <= 3) || value == 254 || value == 255;
}
 
bool
MK_VIII::ConfigurationModule::read_windshear_input_select (int value)
{
    // unimplemented
    return value == 0 || (value >= 253 && value <= 255);
}
 
bool
MK_VIII::ConfigurationModule::read_input_output_discrete_type_select (int value)
{
    static const struct
    {
        int                             type;
        IOHandler::LampConfiguration    lamp_conf;
        bool                            gpws_inhibit_enabled;
        bool                            momentary_flap_override_enabled;
        bool                            alternate_steep_approach;
    } io_types[] = {
        {   0,    { false, false }, false, true,  true },
        {   1,    { true,  false }, false, true,  true },
        {   2,    { false, false }, true,  true,  true },
        {   3,    { true,  false }, true,  true,  true },
        {   4,    { false, true },  true,  true,  true },
        {   5,    { true,  true },  true,  true,  true },
        {   6,    { false, false }, true,  true,  false },
        {   7,    { true,  false }, true,  true,  false },
        { 254,    { false, false }, true,  false, true },
        { 255,    { false, false }, true,  false, true }
    };
 
    for (size_t i = 0; i < n_elements(io_types); i++)
    {
        if (io_types[i].type == value)
        {
            mk->io_handler.conf.lamp = &io_types[i].lamp_conf;
            mk->io_handler.conf.gpws_inhibit_enabled = io_types[i].gpws_inhibit_enabled;
            mk->io_handler.conf.momentary_flap_override_enabled = io_types[i].momentary_flap_override_enabled;
            mk->io_handler.conf.alternate_steep_approach = io_types[i].alternate_steep_approach;
            return true;
        }
    }
 
    return false;
}
 
bool
MK_VIII::ConfigurationModule::read_audio_output_level (int value)
{
    static const struct
    {
        int id;
        int relative_dB;
    } values[] = {
        { 0,   0 },
        { 1,  -6 },
        { 2, -12 },
        { 3, -18 },
        { 4, -24 }
    };
 
    for (size_t i = 0; i < n_elements(values); i++)
    {
        if (values[i].id == value)
        {
            mk->voice_player.set_volume(mk->voice_player.conf.volume = modify_amplitude(1.0, values[i].relative_dB));
            return true;
        }
    }
 
    // The self test needs the voice player even when the configuration
    // is invalid, so set a default value.
    mk->voice_player.set_volume(mk->voice_player.conf.volume = 1.0);
    return false;
}
 
bool
MK_VIII::ConfigurationModule::read_undefined_input_select (int value)
{
    // unimplemented
    return value == 0;
}
 
void
MK_VIII::ConfigurationModule::boot ()
{
    bool (MK_VIII::ConfigurationModule::*readers[N_CATEGORIES]) (int) = {
         &MK_VIII::ConfigurationModule::read_aircraft_mode_type_select,
         &MK_VIII::ConfigurationModule::read_air_data_input_select,
         &MK_VIII::ConfigurationModule::read_position_input_select,
         &MK_VIII::ConfigurationModule::read_altitude_callouts,
         &MK_VIII::ConfigurationModule::read_audio_menu_select,
         &MK_VIII::ConfigurationModule::read_terrain_display_select,
         &MK_VIII::ConfigurationModule::read_options_select_group_1,
         &MK_VIII::ConfigurationModule::read_radio_altitude_input_select,
         &MK_VIII::ConfigurationModule::read_navigation_input_select,
         &MK_VIII::ConfigurationModule::read_attitude_input_select,
         &MK_VIII::ConfigurationModule::read_heading_input_select,
         &MK_VIII::ConfigurationModule::read_windshear_input_select,
         &MK_VIII::ConfigurationModule::read_input_output_discrete_type_select,
         &MK_VIII::ConfigurationModule::read_audio_output_level,
         &MK_VIII::ConfigurationModule::read_undefined_input_select,
         &MK_VIII::ConfigurationModule::read_undefined_input_select,
         &MK_VIII::ConfigurationModule::read_undefined_input_select
    };
 
    memcpy(effective_categories, categories, sizeof(categories));
    state = STATE_OK;
 
    for (int i = 0; i < N_CATEGORIES; i++)
    {
        if (! (this->*readers[i])(effective_categories[i]))
        {
            SG_LOG(SG_INSTR, SG_ALERT, "MK VIII EGPWS configuration category " << i + 1 << ": invalid value " << effective_categories[i]);
 
            if (state == STATE_OK)
                state = STATE_INVALID_DATABASE;
 
            mk_doutput(gpws_inop) = true;
            mk_doutput(tad_inop) = true;
 
            return;
        }
    }
 
    // handle conflicts
 
    if (mk->mode6_handler.conf.above_field_voice && ! mk->tcf_handler.conf.enabled)
    {
        // [INSTALL] 3.6
        SG_LOG(SG_INSTR, SG_ALERT, "MK VIII EGPWS configuration module: when category 4 is set to 100 or 101, category 6 must not be set to 2");
        state = STATE_INVALID_DATABASE;
    }
}
 
void
MK_VIII::ConfigurationModule::bind (SGPropertyNode *node)
{
    for (int i = 0; i < N_CATEGORIES; i++)
    {
        std::ostringstream name;
        name << "configuration-module/category-" << i + 1;
        mk->properties_handler.tie(node, name.str().c_str(), SGRawValuePointer<int>(&categories[i]));
    }
}

// FaultHandler ///////////////////////////////////////////////////////////////
 
// [INSTALL] only specifies that the faults cause a GPWS INOP
// indication. We arbitrarily set a TAD INOP when it makes sense.
const unsigned int MK_VIII::FaultHandler::fault_inops[] = {
    INOP_GPWS | INOP_TAD, // [INSTALL] 3.15.1.3
    INOP_GPWS,            // [INSTALL] appendix E 6.6.2
    INOP_GPWS,            // [INSTALL] appendix E 6.6.4
    INOP_GPWS,            // [INSTALL] appendix E 6.6.6
    INOP_GPWS | INOP_TAD, // [INSTALL] appendix E 6.6.7
    INOP_GPWS,            // [INSTALL] appendix E 6.6.13
    INOP_GPWS,            // [INSTALL] appendix E 6.6.25
    INOP_GPWS,            // [INSTALL] appendix E 6.6.27
    INOP_TAD,             // unspecified
    INOP_GPWS,            // unspecified
    INOP_GPWS,            // unspecified
    // [INSTALL] 2.3.10.1 specifies that GPWS INOP is "activated during
    // any detected partial or total failure of the GPWS modes 1-5", so
    // do not set any INOP for mode 6 and bank angle.
    0,                    // unspecified
    0,                    // unspecified
    INOP_TAD              // unspecified
};
 
bool
MK_VIII::FaultHandler::has_faults () const
{
    return faults!=0;
}
 
bool
MK_VIII::FaultHandler::has_faults (unsigned int inop)
{
    if (!faults)
        return false;
 
    for (int i = 0; i < N_FAULTS; i++)
    {
        if ((faults & (1<<i)) && test_bits(fault_inops[i], inop))
            return true;
    }
 
    return false;
}
 
void
MK_VIII::FaultHandler::boot ()
{
    faults = 0;
}
 
void
MK_VIII::FaultHandler::set_fault (Fault fault)
{
    if (! (faults & (1<<fault)))
    {
        faults |= 1<<fault;
 
        mk->self_test_handler.set_inop();
 
        if (test_bits(fault_inops[fault], INOP_GPWS))
        {
            mk_unset_alerts(~mk_alert(TCF_TOO_LOW_TERRAIN));
            mk_doutput(gpws_inop) = true;
        }
        if (test_bits(fault_inops[fault], INOP_TAD))
        {
            mk_unset_alerts(mk_alert(TCF_TOO_LOW_TERRAIN));
            mk_doutput(tad_inop) = true;
        }
    }
}
 
void
MK_VIII::FaultHandler::unset_fault (Fault fault)
{
    if (faults & (1<<fault))
    {
        faults &= ~(1<<fault);
        if (! has_faults(INOP_GPWS))
            mk_doutput(gpws_inop) = false;
        if (! has_faults(INOP_TAD))
            mk_doutput(tad_inop) = false;
    }
}

// IOHandler //////////////////////////////////////////////////////////////////
 
double
MK_VIII::IOHandler::TerrainClearanceFilter::update (double agl)
{
    // [PILOT] page 20 specifies that the terrain clearance is equal to
    // 75% of the radio altitude, averaged over the previous 15 seconds.
 
    // no updates when simulation is paused (dt=0.0), and add 5 samples/second only
    if (globals->get_sim_time_sec() - last_update < 0.2)
        return value;
    last_update = globals->get_sim_time_sec();
 
    samples_type::iterator iter;
 
    // remove samples older than 15 seconds
    for (iter = samples.begin(); iter != samples.end() && globals->get_sim_time_sec() - (*iter).timestamp >= 15; iter = samples.begin())
        samples.erase(iter);
 
    // append new sample
    samples.push_back(Sample<double>(agl));
 
    // calculate average
    double new_value = 0;
    if (! samples.empty())
    {
        // time consuming loop => queue limited to 75 samples
        // (= 15seconds * 5samples/second)
        for (iter = samples.begin(); iter != samples.end(); iter++)
            new_value += (*iter).value;
        new_value /= samples.size();
    }
    new_value *= 0.75;
 
    if (new_value > value)
        value = new_value;
 
    return value;
}
 
void
MK_VIII::IOHandler::TerrainClearanceFilter::reset ()
{
    samples.clear();
    value = 0;
    last_update = -1.0;
}
 
MK_VIII::IOHandler::IOHandler (MK_VIII *device)
    : mk(device), _lamp(LAMP_NONE), last_landing_gear(false), last_real_flaps_down(false)
{
    memset(&input_feeders,    0, sizeof(input_feeders));
    memset(&inputs.discretes, 0, sizeof(inputs.discretes));
    memset(&outputs,          0, sizeof(outputs));
    memset(&power_saved,      0, sizeof(power_saved));
 
    mk_dinput_feed(landing_gear) = true;
    mk_dinput_feed(landing_flaps) = true;
    mk_dinput_feed(glideslope_inhibit) = true;
    mk_dinput_feed(decision_height) = true;
    mk_dinput_feed(autopilot_engaged) = true;
    mk_ainput_feed(uncorrected_barometric_altitude) = true;
    mk_ainput_feed(barometric_altitude_rate) = true;
    mk_ainput_feed(radio_altitude) = true;
    mk_ainput_feed(glideslope_deviation) = true;
    mk_ainput_feed(roll_angle) = true;
    mk_ainput_feed(localizer_deviation) = true;
    mk_ainput_feed(computed_airspeed) = true;
 
    // will be unset on power on
    mk_doutput(gpws_inop) = true;
    mk_doutput(tad_inop) = true;
}
 
void
MK_VIII::IOHandler::boot ()
{
    if (mk->configuration_module.state != ConfigurationModule::STATE_OK)
        return;
 
    mk_doutput(gpws_inop) = false;
    mk_doutput(tad_inop) = false;
 
    mk_doutput(glideslope_cancel) = power_saved.glideslope_cancel;
 
    altitude_samples.clear();
    reset_terrain_clearance();
}
 
void
MK_VIII::IOHandler::post_boot ()
{
    if (momentary_steep_approach_enabled())
    {
        last_landing_gear = mk_dinput(landing_gear);
        last_real_flaps_down = real_flaps_down();
    }
 
    // read externally-latching input discretes
    update_alternate_discrete_input(&mk_dinput(mode6_low_volume));
    update_alternate_discrete_input(&mk_dinput(audio_inhibit));
}
 
void
MK_VIII::IOHandler::power_off ()
{
    power_saved.glideslope_cancel = mk_doutput(glideslope_cancel); // [SPEC] 6.2.5
 
    memset(&outputs, 0, sizeof(outputs));
 
    audio_inhibit_fault_timer.stop();
    landing_gear_fault_timer.stop();
    flaps_down_fault_timer.stop();
    momentary_flap_override_fault_timer.stop();
    self_test_fault_timer.stop();
    glideslope_cancel_fault_timer.stop();
    steep_approach_fault_timer.stop();
    gpws_inhibit_fault_timer.stop();
    ta_tcf_inhibit_fault_timer.stop();
 
    // [SPEC] 6.9.3.5
    mk_doutput(gpws_inop) = true;
    mk_doutput(tad_inop) = true;
}
 
void
MK_VIII::IOHandler::enter_ground ()
{
    reset_terrain_clearance();
 
    if (conf.momentary_flap_override_enabled)
        mk_doutput(flap_override) = false;    // [INSTALL] 3.15.1.6
}
 
void
MK_VIII::IOHandler::enter_takeoff ()
{
    reset_terrain_clearance();
 
    // landing or go-around, disable steep approach as per [SPEC] 6.2.1
    if (momentary_steep_approach_enabled())
        mk_doutput(steep_approach) = false;
}
 
void
MK_VIII::IOHandler::update_inputs ()
{
    if (mk->configuration_module.state != ConfigurationModule::STATE_OK)
        return;
 
    // 1. process input feeders
 
    if (mk_dinput_feed(landing_gear))
        mk_dinput(landing_gear) = mk_node(gear_down)->getBoolValue();
    if (mk_dinput_feed(landing_flaps))
        mk_dinput(landing_flaps) = mk_node(flaps)->getDoubleValue() < 1;
    if (mk_dinput_feed(glideslope_inhibit))
        mk_dinput(glideslope_inhibit) = mk_node(nav0_gs_distance)->getDoubleValue() < 0;
    if (mk_dinput_feed(autopilot_engaged))
    {
        const auto mode = mk_node(autopilot_heading_lock)->getStringValue();
        mk_dinput(autopilot_engaged) = !mode.empty();
    }
 
    if (mk_ainput_feed(uncorrected_barometric_altitude))
    {
        if (mk_node(altimeter_serviceable)->getBoolValue())
            mk_ainput(uncorrected_barometric_altitude).set(mk_node(altimeter_altitude)->getDoubleValue());
        else
            mk_ainput(uncorrected_barometric_altitude).unset();
    }
    if (mk_ainput_feed(barometric_altitude_rate))
        // Do not use the vsi, because it is pressure-based only, and
        // therefore too laggy for GPWS alerting purposes. I guess that
        // a real ADC combines pressure-based and inerta-based altitude
        // rates to provide a non-laggy rate. That non-laggy rate is
        // best emulated by /velocities/vertical-speed-fps * 60.
        mk_ainput(barometric_altitude_rate).set(mk_node(vs)->getDoubleValue() * 60);
    if (mk_ainput_feed(radio_altitude))
    {
        double agl;
        switch (conf.altitude_source)
        {
        case 3:
            agl = mk_node(altitude_gear_agl)->getDoubleValue();
            break;
        case 4:
            agl = mk_node(altitude_radar_agl)->getDoubleValue();
            break;
        default: // 0,1,2 (and any currently unsupported values)
            agl = mk_node(altitude_agl)->getDoubleValue();
            break;
        }
        // Some flight models may return negative values when on the
        // ground or after a crash; do not allow them.
        mk_ainput(radio_altitude).set(SG_MAX2(0.0, agl));
    }
    if (mk_ainput_feed(glideslope_deviation))
    {
        if (mk_node(nav0_serviceable)->getBoolValue()
         && mk_node(nav0_gs_serviceable)->getBoolValue()
         && mk_node(nav0_in_range)->getBoolValue()
         && mk_node(nav0_has_gs)->getBoolValue())
            // gs-needle-deflection is expressed in degrees, and 1 dot =
            // 0.32 degrees (according to
            // http://www.ntsb.gov/Recs/letters/2000/A00_41_45.pdf)
            mk_ainput(glideslope_deviation).set(mk_node(nav0_gs_needle_deflection)->getDoubleValue() / 0.32 * GLIDESLOPE_DOTS_TO_DDM);
        else
            mk_ainput(glideslope_deviation).unset();
    }
    if (mk_ainput_feed(roll_angle))
    {
        if (conf.use_attitude_indicator)
        {
            // read data from attitude indicator instrument (requires vacuum system to work)
            if (mk_node(ai_serviceable)->getBoolValue() && ! mk_node(ai_caged)->getBoolValue())
                mk_ainput(roll_angle).set(mk_node(ai_roll)->getDoubleValue());
            else
                mk_ainput(roll_angle).unset();
        }
        else
        {
            // use simulator source
            mk_ainput(roll_angle).set(mk_node(orientation_roll)->getDoubleValue());
        }
    }
    if (mk_ainput_feed(localizer_deviation))
    {
        if (mk_node(nav0_serviceable)->getBoolValue()
         && mk_node(nav0_cdi_serviceable)->getBoolValue()
         && mk_node(nav0_in_range)->getBoolValue()
         && mk_node(nav0_nav_loc)->getBoolValue())
            // heading-needle-deflection is expressed in degrees, and 1
            // dot = 2 degrees (0.5 degrees for ILS, but navradio.cxx
            // performs the conversion)
            mk_ainput(localizer_deviation).set(mk_node(nav0_heading_needle_deflection)->getDoubleValue() / 2 * LOCALIZER_DOTS_TO_DDM);
        else
            mk_ainput(localizer_deviation).unset();
    }
    if (mk_ainput_feed(computed_airspeed))
    {
        if (mk_node(asi_serviceable)->getBoolValue())
            mk_ainput(computed_airspeed).set(mk_node(asi_speed)->getDoubleValue());
        else
            mk_ainput(computed_airspeed).unset();
    }
 
    // 2. compute data
 
    mk_data(decision_height).set(&mk_ainput(decision_height));
    mk_data(radio_altitude).set(&mk_ainput(radio_altitude));
    mk_data(roll_angle).set(&mk_ainput(roll_angle));
 
    // update barometric_altitude_rate as per [SPEC] 6.2.1: "During
    // normal conditions, the system will base Mode 1 computations upon
    // barometric rate from the ADC. If this computed data is not valid
    // or available then the system will use internally computed
    // barometric altitude rate."
 
    if (! mk_ainput(barometric_altitude_rate).ncd)
        // the altitude rate input is valid, use it
        mk_data(barometric_altitude_rate).set(mk_ainput(barometric_altitude_rate).get());
    else
    {
        bool has = false;
 
        // The altitude rate input is invalid. We can compute an
        // altitude rate if all the following conditions are true:
        //
        //   - the altitude input is valid
        //   - there is an altitude sample with age >= 1 second
        //   - that altitude sample is valid
 
        if (! mk_ainput(uncorrected_barometric_altitude).ncd)
        {
            if (! altitude_samples.empty() && ! altitude_samples.front().value.ncd)
            {
                double elapsed = globals->get_sim_time_sec() - altitude_samples.front().timestamp;
                if (elapsed >= 1)
                {
                    has = true;
                    mk_data(barometric_altitude_rate).set((mk_ainput(uncorrected_barometric_altitude).get() - altitude_samples.front().value.get()) / elapsed * 60);
                }
            }
        }
 
        if (! has)
            mk_data(barometric_altitude_rate).unset();
    }
 
    altitude_samples.push_back(Sample< Parameter<double> >(mk_ainput(uncorrected_barometric_altitude)));
 
    // Erase everything from the beginning of the list up to the sample
    // preceding the most recent sample whose age is >= 1 second.
 
    altitude_samples_type::iterator erase_last = altitude_samples.begin();
    altitude_samples_type::iterator iter;
 
    for (iter = altitude_samples.begin(); iter != altitude_samples.end(); iter++)
    {
        if (globals->get_sim_time_sec() - (*iter).timestamp >= 1)
            erase_last = iter;
        else
            break;
    }
 
    if (erase_last != altitude_samples.begin())
        altitude_samples.erase(altitude_samples.begin(), erase_last);
 
    // update GPS data
 
    if (conf.use_internal_gps)
    {
        mk_data(gps_altitude).set(mk_node(altitude)->getDoubleValue());
        mk_data(gps_latitude).set(mk_node(latitude)->getDoubleValue());
        mk_data(gps_longitude).set(mk_node(longitude)->getDoubleValue());
        mk_data(gps_vertical_figure_of_merit).set(0.0);
    }
    else
    {
        mk_data(gps_altitude).set(&mk_ainput(gps_altitude));
        mk_data(gps_latitude).set(&mk_ainput(gps_latitude));
        mk_data(gps_longitude).set(&mk_ainput(gps_longitude));
        mk_data(gps_vertical_figure_of_merit).set(&mk_ainput(gps_vertical_figure_of_merit));
    }
 
    // update glideslope and localizer
    mk_data(glideslope_deviation_dots).set(&mk_ainput(glideslope_deviation), GLIDESLOPE_DDM_TO_DOTS);
    mk_data(localizer_deviation_dots).set(&mk_ainput(localizer_deviation), LOCALIZER_DDM_TO_DOTS);
 
    // Update geometric altitude; [SPEC] 6.7.8 provides an overview of a
    // complex algorithm which combines several input sources to
    // calculate the geometric altitude. Since the exact algorithm is
    // not given, we fallback to a much simpler method.
    if (! mk_data(gps_altitude).ncd)
        mk_data(geometric_altitude).set(mk_data(gps_altitude).get());
    else if (! mk_ainput(uncorrected_barometric_altitude).ncd)
        mk_data(geometric_altitude).set(mk_ainput(uncorrected_barometric_altitude).get());
    else
        mk_data(geometric_altitude).unset();
 
    // update terrain clearance
    update_terrain_clearance();
 
    // 3. perform sanity checks
    if (! mk_data(radio_altitude).ncd && mk_data(radio_altitude).get() < 0)
        mk_data(radio_altitude).unset();
 
    if (! mk_data(decision_height).ncd && mk_data(decision_height).get() < 0)
        mk_data(decision_height).unset();
 
    if (! mk_data(gps_latitude).ncd
     && (mk_data(gps_latitude).get() < -90
      || mk_data(gps_latitude).get() > 90))
        mk_data(gps_latitude).unset();
 
    if (! mk_data(gps_longitude).ncd
     && (mk_data(gps_longitude).get() < -180
      || mk_data(gps_longitude).get() > 180))
        mk_data(gps_longitude).unset();
 
    if (! mk_data(roll_angle).ncd
     && ((mk_data(roll_angle).get() < -180)
      || (mk_data(roll_angle).get() > 180)))
        mk_data(roll_angle).unset();
 
    // 4. process input feeders requiring data computed above
    if (mk_dinput_feed(decision_height))
    {
        mk_dinput(decision_height_100) = ! mk_data(radio_altitude).ncd
         && ! mk_data(decision_height).ncd
         && mk_data(radio_altitude).get() <= mk_data(decision_height).get()+100;
 
        mk_dinput(decision_height) = ! mk_data(radio_altitude).ncd
         && ! mk_data(decision_height).ncd
         && mk_data(radio_altitude).get() <= mk_data(decision_height).get();
    }
}
 
void
MK_VIII::IOHandler::update_terrain_clearance ()
{
    if (! mk_data(radio_altitude).ncd)
        mk_data(terrain_clearance).set(terrain_clearance_filter.update(mk_data(radio_altitude).get()));
    else
        mk_data(terrain_clearance).unset();
}
 
void
MK_VIII::IOHandler::reset_terrain_clearance ()
{
    terrain_clearance_filter.reset();
    update_terrain_clearance();
}
 
void
MK_VIII::IOHandler::reposition ()
{
    reset_terrain_clearance();
}
 
void
MK_VIII::IOHandler::handle_input_fault (bool test, FaultHandler::Fault fault)
{
    if (test)
    {
        mk->fault_handler.set_fault(fault);
    }
    else
        mk->fault_handler.unset_fault(fault);
}
 
void
MK_VIII::IOHandler::handle_input_fault (bool test,
                    Timer *timer,
                    double max_duration,
                    FaultHandler::Fault fault)
{
    if (test)
    {
        if (! (mk->fault_handler.faults & (1<<fault)))
        {
            if (timer->start_or_elapsed() >= max_duration)
                mk->fault_handler.set_fault(fault);
        }
    }
    else
    {
        mk->fault_handler.unset_fault(fault);
        timer->stop();
    }
}
 
void
MK_VIII::IOHandler::update_input_faults ()
{
    if (mk->configuration_module.state != ConfigurationModule::STATE_OK)
        return;
 
    // [INSTALL] 3.15.1.3
    handle_input_fault(mk_dinput(audio_inhibit),
             &audio_inhibit_fault_timer,
             60,
             FaultHandler::FAULT_ALL_MODES_INHIBIT);
 
    // [INSTALL] appendix E 6.6.2
    handle_input_fault(mk_dinput(landing_gear)
             && ! mk_ainput(computed_airspeed).ncd
             && mk_ainput(computed_airspeed).get() > conf.faults->max_gear_down_airspeed,
             &landing_gear_fault_timer,
             60,
             FaultHandler::FAULT_GEAR_SWITCH);
 
    // [INSTALL] appendix E 6.6.4
    handle_input_fault(flaps_down()
             && ! mk_ainput(computed_airspeed).ncd
             && mk_ainput(computed_airspeed).get() > conf.faults->max_flaps_down_airspeed,
             &flaps_down_fault_timer,
             60,
             FaultHandler::FAULT_FLAPS_SWITCH);
 
    // [INSTALL] appendix E 6.6.6
    if (conf.momentary_flap_override_enabled)
        handle_input_fault(mk_dinput(momentary_flap_override),
                   &momentary_flap_override_fault_timer,
                   15,
                   FaultHandler::FAULT_MOMENTARY_FLAP_OVERRIDE_INVALID);
 
    // [INSTALL] appendix E 6.6.7
    handle_input_fault(mk_dinput(self_test),
             &self_test_fault_timer,
             60,
             FaultHandler::FAULT_SELF_TEST_INVALID);
 
    // [INSTALL] appendix E 6.6.13
    handle_input_fault(mk_dinput(glideslope_cancel),
             &glideslope_cancel_fault_timer,
             15,
             FaultHandler::FAULT_GLIDESLOPE_CANCEL_INVALID);
 
    // [INSTALL] appendix E 6.6.25
    if (momentary_steep_approach_enabled())
        handle_input_fault(mk_dinput(steep_approach),
                   &steep_approach_fault_timer,
                   15,
                   FaultHandler::FAULT_STEEP_APPROACH_INVALID);
 
    // [INSTALL] appendix E 6.6.27
    if (conf.gpws_inhibit_enabled)
        handle_input_fault(mk_dinput(gpws_inhibit),
                   &gpws_inhibit_fault_timer,
                   5,
                   FaultHandler::FAULT_GPWS_INHIBIT);
 
    // [INSTALL] does not specify a fault for this one, but it makes
    // sense to have it behave like GPWS inhibit
    handle_input_fault(mk_dinput(ta_tcf_inhibit),
             &ta_tcf_inhibit_fault_timer,
             5,
             FaultHandler::FAULT_TA_TCF_INHIBIT);
 
    // [PILOT] page 48: "In the event that required data for a
    // particular function is not available, then that function is
    // automatically inhibited and annunciated"
 
    handle_input_fault(mk_data(radio_altitude).ncd
             || mk_ainput(uncorrected_barometric_altitude).ncd
             || mk_data(barometric_altitude_rate).ncd
             || mk_ainput(computed_airspeed).ncd
             || mk_data(terrain_clearance).ncd,
             FaultHandler::FAULT_MODES14_INPUTS_INVALID);
 
    if (! mk_dinput(glideslope_inhibit))
        handle_input_fault(mk_data(radio_altitude).ncd,
                   FaultHandler::FAULT_MODE5_INPUTS_INVALID);
 
    if (mk->mode6_handler.altitude_callouts_enabled())
        handle_input_fault(mk->mode6_handler.conf.above_field_voice
                   ? (mk_data(gps_latitude).ncd
                  || mk_data(gps_longitude).ncd
                  || mk_data(geometric_altitude).ncd)
                   : mk_data(radio_altitude).ncd,
                   FaultHandler::FAULT_MODE6_INPUTS_INVALID);
 
    if (mk->mode6_handler.conf.bank_angle_enabled)
        handle_input_fault(mk_data(roll_angle).ncd,
                   FaultHandler::FAULT_BANK_ANGLE_INPUTS_INVALID);
 
    if (mk->tcf_handler.conf.enabled)
        handle_input_fault(mk_data(radio_altitude).ncd
                   || mk_data(geometric_altitude).ncd
                   || mk_data(gps_latitude).ncd
                   || mk_data(gps_longitude).ncd
                   || mk_data(gps_vertical_figure_of_merit).ncd,
                   FaultHandler::FAULT_TCF_INPUTS_INVALID);
}
 
void
MK_VIII::IOHandler::update_alternate_discrete_input (bool *ptr)
{
    assert(mk->system_handler.state == SystemHandler::STATE_ON);
 
    if (ptr == &mk_dinput(mode6_low_volume))
    {
        if (mk->configuration_module.state == ConfigurationModule::STATE_OK
         && mk->self_test_handler.state == SelfTestHandler::STATE_NONE)
            mk->mode6_handler.set_volume(*ptr ? modify_amplitude(1.0, -6) : 1.0);
    }
    else if (ptr == &mk_dinput(audio_inhibit))
    {
        if (mk->configuration_module.state == ConfigurationModule::STATE_OK
         && mk->self_test_handler.state == SelfTestHandler::STATE_NONE)
            mk->voice_player.set_volume(*ptr ? 0.0 : mk->voice_player.conf.volume);
    }
}
 
void
MK_VIII::IOHandler::update_internal_latches ()
{
    if (mk->configuration_module.state != ConfigurationModule::STATE_OK)
        return;
 
    // [SPEC] 6.2.1
    if (conf.momentary_flap_override_enabled
      && mk_doutput(flap_override)
      && ! mk->state_handler.takeoff
      && (mk_data(radio_altitude).ncd || mk_data(radio_altitude).get() <= 50))
        mk_doutput(flap_override) = false;
 
    // [SPEC] 6.2.1
    if (momentary_steep_approach_enabled())
    {
        if (mk_doutput(steep_approach)
         && ! mk->state_handler.takeoff
         && ((last_landing_gear && ! mk_dinput(landing_gear))
          || (last_real_flaps_down && ! real_flaps_down())))
        {
            // gear or flaps raised during approach: it's a go-around
            mk_doutput(steep_approach) = false;
        }
 
        last_landing_gear = mk_dinput(landing_gear);
        last_real_flaps_down = real_flaps_down();
    }
 
    // [SPEC] 6.2.5
    if (mk_doutput(glideslope_cancel)
     && (mk_data(glideslope_deviation_dots).ncd
      || mk_data(radio_altitude).ncd
      || mk_data(radio_altitude).get() > 2000
      || mk_data(radio_altitude).get() < 30))
        mk_doutput(glideslope_cancel) = false;
}
 
void
MK_VIII::IOHandler::update_egpws_alert_discrete_1 ()
{
    if (mk->voice_player.voice)
    {
        const struct
        {
            int            bit;
            VoicePlayer::Voice    *voice;
        } voices[] = {
            { 11, mk_voice(sink_rate_pause_sink_rate) },
            { 12, mk_voice(pull_up) },
            { 13, mk_voice(terrain) },
            { 13, mk_voice(terrain_pause_terrain) },
            { 14, mk_voice(dont_sink_pause_dont_sink) },
            { 15, mk_voice(too_low_gear) },
            { 16, mk_voice(too_low_flaps) },
            { 17, mk_voice(too_low_terrain) },
            { 18, mk_voice(soft_glideslope) },
            { 18, mk_voice(hard_glideslope) },
            { 19, mk_voice(minimums_minimums) }
        };
 
        for (size_t i = 0; i < n_elements(voices); i++)
        {
            if (voices[i].voice == mk->voice_player.voice)
            {
                mk_aoutput(egpws_alert_discrete_1) = 1 << voices[i].bit;
                return;
            }
        }
    }
 
    mk_aoutput(egpws_alert_discrete_1) = 0;
}
 
void
MK_VIII::IOHandler::update_egpwc_logic_discretes ()
{
    mk_aoutput(egpwc_logic_discretes) = 0;
 
    if (mk->state_handler.takeoff)
        mk_aoutput(egpwc_logic_discretes) |= 1 << 18;
 
    static const struct
    {
        int            bit;
        unsigned int    alerts;
    } logic[] = {
        { 13, mk_alert(TCF_TOO_LOW_TERRAIN) },
        { 19, mk_alert(MODE1_SINK_RATE) },
        { 20, mk_alert(MODE1_PULL_UP) },
        { 21, mk_alert(MODE2A_PREFACE) | mk_alert(MODE2B_PREFACE) | mk_alert(MODE2B_LANDING_MODE) | mk_alert(MODE2A_ALTITUDE_GAIN_TERRAIN_CLOSING) },
        { 22, mk_alert(MODE2A) | mk_alert(MODE2B) },
        { 23, mk_alert(MODE3) },
        { 24, mk_alert(MODE4_TOO_LOW_FLAPS) | mk_alert(MODE4_TOO_LOW_GEAR) | mk_alert(MODE4AB_TOO_LOW_TERRAIN) | mk_alert(MODE4C_TOO_LOW_TERRAIN) },
        { 25, mk_alert(MODE5_SOFT) | mk_alert(MODE5_HARD) }
    };
 
    for (size_t i = 0; i < n_elements(logic); i++)
    {
        if (mk_test_alerts(logic[i].alerts))
            mk_aoutput(egpwc_logic_discretes) |= 1 << logic[i].bit;
    }
}
 
void
MK_VIII::IOHandler::update_mode6_callouts_discrete_1 ()
{
    if (mk->voice_player.voice)
    {
        const struct
        {
            int            bit;
            VoicePlayer::Voice    *voice;
        } voices[] = {
            { 11, mk_voice(minimums_minimums) },
            { 16, mk_altitude_voice(Mode6Handler::ALTITUDE_CALLOUT_10) },
            { 17, mk_altitude_voice(Mode6Handler::ALTITUDE_CALLOUT_20) },
            { 18, mk_altitude_voice(Mode6Handler::ALTITUDE_CALLOUT_30) },
            { 19, mk_altitude_voice(Mode6Handler::ALTITUDE_CALLOUT_40) },
            { 20, mk_altitude_voice(Mode6Handler::ALTITUDE_CALLOUT_50) },
            { 23, mk_altitude_voice(Mode6Handler::ALTITUDE_CALLOUT_100) },
            { 24, mk_altitude_voice(Mode6Handler::ALTITUDE_CALLOUT_200) },
            { 25, mk_altitude_voice(Mode6Handler::ALTITUDE_CALLOUT_300) }
        };
 
        for (size_t i = 0; i < n_elements(voices); i++)
        {
            if (voices[i].voice == mk->voice_player.voice)
            {
                mk_aoutput(mode6_callouts_discrete_1) = 1 << voices[i].bit;
                return;
            }
        }
    }
    mk_aoutput(mode6_callouts_discrete_1) = 0;
}
 
void
MK_VIII::IOHandler::update_mode6_callouts_discrete_2 ()
{
    if (mk->voice_player.voice)
    {
        const struct
        {
            int            bit;
            VoicePlayer::Voice    *voice;
        } voices[] = {
            { 11, mk_altitude_voice(Mode6Handler::ALTITUDE_CALLOUT_400) },
            { 12, mk_altitude_voice(Mode6Handler::ALTITUDE_CALLOUT_500) },
            { 13, mk_altitude_voice(Mode6Handler::ALTITUDE_CALLOUT_1000) },
            { 14, mk_altitude_voice(Mode6Handler::ALTITUDE_CALLOUT_2500) },
            { 18, mk_voice(bank_angle_pause_bank_angle) },
            { 18, mk_voice(bank_angle_pause_bank_angle_3) },
            { 23, mk_voice(five_hundred_above) }
        };
 
        for (size_t i = 0; i < n_elements(voices); i++)
        {
            if (voices[i].voice == mk->voice_player.voice)
            {
                mk_aoutput(mode6_callouts_discrete_2) = 1 << voices[i].bit;
                return;
            }
        }
    }
 
    mk_aoutput(mode6_callouts_discrete_2) = 0;
}
 
void
MK_VIII::IOHandler::update_egpws_alert_discrete_2 ()
{
    mk_aoutput(egpws_alert_discrete_2) = 1 << 27; // Terrain NA
 
    if (mk_doutput(glideslope_cancel))
        mk_aoutput(egpws_alert_discrete_2) |= 1 << 11;
    if (mk_doutput(gpws_alert))
        mk_aoutput(egpws_alert_discrete_2) |= 1 << 12;
    if (mk_doutput(gpws_warning))
        mk_aoutput(egpws_alert_discrete_2) |= 1 << 13;
    if (mk_doutput(gpws_inop))
        mk_aoutput(egpws_alert_discrete_2) |= 1 << 14;
    if (mk_doutput(audio_on))
        mk_aoutput(egpws_alert_discrete_2) |= 1 << 16;
    if (mk_doutput(tad_inop))
        mk_aoutput(egpws_alert_discrete_2) |= 1 << 24;
    if (mk->fault_handler.has_faults())
        mk_aoutput(egpws_alert_discrete_2) |= 1 << 25;
}
 
void
MK_VIII::IOHandler::update_egpwc_alert_discrete_3 ()
{
    mk_aoutput(egpwc_alert_discrete_3) = 1 << 17 | 1 << 18;
 
    if (mk->fault_handler.faults & (1<<FaultHandler::FAULT_MODES14_INPUTS_INVALID))
        mk_aoutput(egpwc_alert_discrete_3) |= 1 << 11;
    if (mk->fault_handler.faults & (1<<FaultHandler::FAULT_MODE5_INPUTS_INVALID))
        mk_aoutput(egpwc_alert_discrete_3) |= 1 << 12;
    if (mk->fault_handler.faults & (1<<FaultHandler::FAULT_MODE6_INPUTS_INVALID))
        mk_aoutput(egpwc_alert_discrete_3) |= 1 << 13;
    if (mk->fault_handler.faults & (1<<FaultHandler::FAULT_BANK_ANGLE_INPUTS_INVALID))
        mk_aoutput(egpwc_alert_discrete_3) |= 1 << 14;
    if (mk_doutput(tad_inop))
        mk_aoutput(egpwc_alert_discrete_3) |= 1 << 16;
}
 
void
MK_VIII::IOHandler::update_outputs ()
{
    if (mk->configuration_module.state != ConfigurationModule::STATE_OK)
        return;
 
    mk_doutput(audio_on) = ! mk_dinput(audio_inhibit)
        && mk->voice_player.voice
        && ! mk->voice_player.voice->element->silence;
 
    update_egpws_alert_discrete_1();
    update_egpwc_logic_discretes();
    update_mode6_callouts_discrete_1();
    update_mode6_callouts_discrete_2();
    update_egpws_alert_discrete_2();
    update_egpwc_alert_discrete_3();
}
 
bool *
MK_VIII::IOHandler::get_lamp_output (Lamp lamp)
{
    switch (lamp)
    {
    case LAMP_GLIDESLOPE:
        return &mk_doutput(gpws_alert);
 
    case LAMP_CAUTION:
        return conf.lamp->format2 ? &mk_doutput(gpws_alert) : &mk_doutput(gpws_warning);
 
    case LAMP_WARNING:
        return &mk_doutput(gpws_warning);
 
    default:
        assert_not_reached();
        return NULL;
    }
}
 
void
MK_VIII::IOHandler::update_lamps ()
{
    if (mk->configuration_module.state != ConfigurationModule::STATE_OK)
        return;
 
    if (_lamp != LAMP_NONE && conf.lamp->flashing)
    {
        // [SPEC] 6.9.3: 70 cycles per minute
        if (lamp_timer.elapsed() >= 60.0 / 70.0 / 2.0)
        {
            bool *output = get_lamp_output(_lamp);
            *output = ! *output;
            lamp_timer.start();
        }
    }
}
 
void
MK_VIII::IOHandler::set_lamp (Lamp lamp)
{
    if (lamp == _lamp)
        return;
 
    _lamp = lamp;
 
    mk_doutput(gpws_warning) = false;
    mk_doutput(gpws_alert) = false;
 
    if (lamp != LAMP_NONE)
    {
        *get_lamp_output(lamp) = true;
        lamp_timer.start();
    }
}
 
bool
MK_VIII::IOHandler::gpws_inhibit () const
{
    return conf.gpws_inhibit_enabled && mk_dinput(gpws_inhibit);
}
 
bool
MK_VIII::IOHandler::real_flaps_down () const
{
    return conf.flap_reversal ? mk_dinput(landing_flaps) : ! mk_dinput(landing_flaps);
}
 
bool
MK_VIII::IOHandler::flaps_down () const
{
    return flap_override() ? true : real_flaps_down();
}
 
bool
MK_VIII::IOHandler::flap_override () const
{
    return conf.momentary_flap_override_enabled ? mk_doutput(flap_override) : false;
}
 
bool
MK_VIII::IOHandler::steep_approach () const
{
    if (conf.steep_approach_enabled)
        // If alternate action was configured in category 13, we return
        // the value of the input discrete (which should be connected to a
        // latching steep approach cockpit switch). Otherwise, we return
        // the value of the output discrete.
        return conf.alternate_steep_approach ? mk_dinput(steep_approach) : mk_doutput(steep_approach);
    else
        return false;
}
 
bool
MK_VIII::IOHandler::momentary_steep_approach_enabled () const
{
    return conf.steep_approach_enabled && ! conf.alternate_steep_approach;
}
 
void
MK_VIII::IOHandler::tie_input (SGPropertyNode *node,
                   const char *name,
                   bool *input,
                   bool *feed)
{
    mk->properties_handler.tie(node, (string("inputs/discretes/") + name).c_str(),
        FGVoicePlayer::RawValueMethodsData<MK_VIII::IOHandler, bool, bool *>(*this, input, &MK_VIII::IOHandler::get_discrete_input, &MK_VIII::IOHandler::set_discrete_input));
    if (feed)
        mk->properties_handler.tie(node, (string("input-feeders/discretes/") + name).c_str(), SGRawValuePointer<bool>(feed));
}
 
void
MK_VIII::IOHandler::tie_input (SGPropertyNode *node,
                   const char *name,
                   Parameter<double> *input,
                   bool *feed)
{
    mk->properties_handler.tie(node, (string("inputs/arinc429/") + name).c_str(), SGRawValuePointer<double>(input->get_pointer()));
    mk->properties_handler.tie(node, (string("inputs/arinc429/") + name + "-ncd").c_str(), SGRawValuePointer<bool>(&input->ncd));
    if (feed)
        mk->properties_handler.tie(node, (string("input-feeders/arinc429/") + name).c_str(), SGRawValuePointer<bool>(feed));
}
 
void
MK_VIII::IOHandler::tie_output (SGPropertyNode *node,
                const char *name,
                bool *output)
{
    SGPropertyNode *child = node->getNode((string("outputs/discretes/") + name), true);
 
    mk->properties_handler.tie(child, SGRawValuePointer<bool>(output));
    child->setAttribute(SGPropertyNode::WRITE, false);
}
 
void
MK_VIII::IOHandler::tie_output (SGPropertyNode *node,
                const char *name,
                int *output)
{
    SGPropertyNode *child = node->getNode((string("outputs/arinc429/") + name), true);
 
    mk->properties_handler.tie(child, SGRawValuePointer<int>(output));
    child->setAttribute(SGPropertyNode::WRITE, false);
}
 
void
MK_VIII::IOHandler::bind (SGPropertyNode *node)
{
    mk->properties_handler.tie(node, "inputs/rs-232/present-status", SGRawValueMethods<MK_VIII::IOHandler, bool>(*this, &MK_VIII::IOHandler::get_present_status, &MK_VIII::IOHandler::set_present_status));
 
    tie_input(node, "landing-gear", &mk_dinput(landing_gear), &mk_dinput_feed(landing_gear));
    tie_input(node, "landing-flaps", &mk_dinput(landing_flaps), &mk_dinput_feed(landing_flaps));
    tie_input(node, "momentary-flap-override", &mk_dinput(momentary_flap_override));
    tie_input(node, "self-test", &mk_dinput(self_test));
    tie_input(node, "glideslope-inhibit", &mk_dinput(glideslope_inhibit), &mk_dinput_feed(glideslope_inhibit));
    tie_input(node, "glideslope-cancel", &mk_dinput(glideslope_cancel));
    tie_input(node, "decision-height", &mk_dinput(decision_height), &mk_dinput_feed(decision_height));
    tie_input(node, "mode6-low-volume", &mk_dinput(mode6_low_volume));
    tie_input(node, "audio-inhibit", &mk_dinput(audio_inhibit));
    tie_input(node, "ta-tcf-inhibit", &mk_dinput(ta_tcf_inhibit));
    tie_input(node, "autopilot-engaged", &mk_dinput(autopilot_engaged), &mk_dinput_feed(autopilot_engaged));
    tie_input(node, "steep-approach", &mk_dinput(steep_approach));
    tie_input(node, "gpws-inhibit", &mk_dinput(gpws_inhibit));
 
    tie_input(node, "uncorrected-barometric-altitude", &mk_ainput(uncorrected_barometric_altitude), &mk_ainput_feed(uncorrected_barometric_altitude));
    tie_input(node, "barometric-altitude-rate", &mk_ainput(barometric_altitude_rate), &mk_ainput_feed(barometric_altitude_rate));
    tie_input(node, "gps-altitude", &mk_ainput(gps_altitude));
    tie_input(node, "gps-latitude", &mk_ainput(gps_latitude));
    tie_input(node, "gps-longitude", &mk_ainput(gps_longitude));
    tie_input(node, "gps-vertical-figure-of-merit", &mk_ainput(gps_vertical_figure_of_merit));
    tie_input(node, "radio-altitude", &mk_ainput(radio_altitude), &mk_ainput_feed(radio_altitude));
    tie_input(node, "glideslope-deviation", &mk_ainput(glideslope_deviation), &mk_ainput_feed(glideslope_deviation));
    tie_input(node, "roll-angle", &mk_ainput(roll_angle), &mk_ainput_feed(roll_angle));
    tie_input(node, "localizer-deviation", &mk_ainput(localizer_deviation), &mk_ainput_feed(localizer_deviation));
    tie_input(node, "computed-airspeed", &mk_ainput(computed_airspeed), &mk_ainput_feed(computed_airspeed));
    tie_input(node, "decision-height", &mk_ainput(decision_height), &mk_ainput_feed(decision_height));
 
    tie_output(node, "gpws-warning", &mk_doutput(gpws_warning));
    tie_output(node, "gpws-alert", &mk_doutput(gpws_alert));
    tie_output(node, "audio-on", &mk_doutput(audio_on));
    tie_output(node, "gpws-inop", &mk_doutput(gpws_inop));
    tie_output(node, "tad-inop", &mk_doutput(tad_inop));
    tie_output(node, "flap-override", &mk_doutput(flap_override));
    tie_output(node, "glideslope-cancel", &mk_doutput(glideslope_cancel));
    tie_output(node, "steep-approach", &mk_doutput(steep_approach));
 
    tie_output(node, "egpws-alert-discrete-1", &mk_aoutput(egpws_alert_discrete_1));
    tie_output(node, "egpwc-logic-discretes", &mk_aoutput(egpwc_logic_discretes));
    tie_output(node, "mode6-callouts-discrete-1", &mk_aoutput(mode6_callouts_discrete_1));
    tie_output(node, "mode6-callouts-discrete-2", &mk_aoutput(mode6_callouts_discrete_2));
    tie_output(node, "egpws-alert-discrete-2", &mk_aoutput(egpws_alert_discrete_2));
    tie_output(node, "egpwc-alert-discrete-3", &mk_aoutput(egpwc_alert_discrete_3));
}
 
bool
MK_VIII::IOHandler::get_discrete_input (bool *ptr) const
{
    return *ptr;
}
 
void
MK_VIII::IOHandler::set_discrete_input (bool *ptr, bool value)
{
    if (value == *ptr)
        return;
 
    if (mk->system_handler.state == SystemHandler::STATE_ON)
    {
        if (ptr == &mk_dinput(momentary_flap_override))
        {
            if (mk->configuration_module.state == ConfigurationModule::STATE_OK
              && mk->self_test_handler.state == SelfTestHandler::STATE_NONE
              && conf.momentary_flap_override_enabled
              && value)
                mk_doutput(flap_override) = ! mk_doutput(flap_override);
        }
        else if (ptr == &mk_dinput(self_test))
            mk->self_test_handler.handle_button_event(value);
        else if (ptr == &mk_dinput(glideslope_cancel))
        {
            if (mk->configuration_module.state == ConfigurationModule::STATE_OK
             && mk->self_test_handler.state == SelfTestHandler::STATE_NONE
             && value)
            {
                if (! mk_doutput(glideslope_cancel))
                {
                    // [SPEC] 6.2.5
 
                    // Although we are not called from update(), we are
                    // sure that the inputs we use here are defined,
                    // since state is STATE_ON.
 
                    if (! mk_data(glideslope_deviation_dots).ncd
                     && ! mk_data(radio_altitude).ncd
                     && mk_data(radio_altitude).get() <= 2000
                     && mk_data(radio_altitude).get() >= 30)
                        mk_doutput(glideslope_cancel) = true;
                }
                // else do nothing ([PILOT] page 22: "Glideslope Cancel
                // can not be deselected (reset) by again pressing the
                // Glideslope Cancel switch.")
            }
        }
        else if (ptr == &mk_dinput(steep_approach))
        {
            if (mk->configuration_module.state == ConfigurationModule::STATE_OK
             && mk->self_test_handler.state == SelfTestHandler::STATE_NONE
             && momentary_steep_approach_enabled()
             && value)
                mk_doutput(steep_approach) = ! mk_doutput(steep_approach);
        }
    }
 
    *ptr = value;
 
    if (mk->system_handler.state == SystemHandler::STATE_ON)
        update_alternate_discrete_input(ptr);
}
 
void
MK_VIII::IOHandler::present_status_section (const char *name)
{
    printf("%s\n", name);
}
 
void
MK_VIII::IOHandler::present_status_item (const char *name, const char *value)
{
    if (value)
        printf("\t%-32s %s\n", name, value);
    else
        printf("\t%s\n", name);
}
 
void
MK_VIII::IOHandler::present_status_subitem (const char *name)
{
  printf("\t\t%s\n", name);
}
 
void
MK_VIII::IOHandler::present_status ()
{
    // [SPEC] 6.10.13
 
    if (mk->system_handler.state != SystemHandler::STATE_ON)
        return;
 
    present_status_section("EGPWC CONFIGURATION");
    present_status_item("PART NUMBER:", "965-1220-000"); // [SPEC] 1.1
    present_status_item("MOD STATUS:", "N/A");
    present_status_item("SERIAL NUMBER:", "N/A");
    printf("\n");
    present_status_item("APPLICATION S/W VERSION:", FLIGHTGEAR_VERSION);
    present_status_item("TERRAIN DATABASE VERSION:", FLIGHTGEAR_VERSION);
    present_status_item("ENVELOPE MOD DATABASE VERSION:", "N/A");
    present_status_item("BOOT CODE VERSION:", FLIGHTGEAR_VERSION);
    printf("\n");
 
    present_status_section("CURRENT FAULTS");
    if (mk->configuration_module.state == ConfigurationModule::STATE_OK && ! mk->fault_handler.has_faults())
        present_status_item("NO FAULTS");
    else
    {
        if (mk->configuration_module.state != ConfigurationModule::STATE_OK)
        {
            present_status_item("GPWS COMPUTER FAULTS:");
            switch (mk->configuration_module.state)
            {
            case ConfigurationModule::STATE_INVALID_DATABASE:
                present_status_subitem("APPLICATION DATABASE FAILED");
                break;
 
            case ConfigurationModule::STATE_INVALID_AIRCRAFT_TYPE:
                present_status_subitem("CONFIGURATION TYPE INVALID");
                break;
 
            default:
                assert_not_reached();
                break;
            }
        }
        else
        {
            present_status_item("GPWS COMPUTER OK");
            present_status_item("GPWS EXTERNAL FAULTS:");
 
            static const char *fault_names[] = {
                "ALL MODES INHIBIT",
                "GEAR SWITCH",
                "FLAPS SWITCH",
                "MOMENTARY FLAP OVERRIDE INVALID",
                "SELF TEST INVALID",
                "GLIDESLOPE CANCEL INVALID",
                "STEEP APPROACH INVALID",
                "GPWS INHIBIT",
                "TA & TCF INHIBIT",
                "MODES 1-4 INPUTS INVALID",
                "MODE 5 INPUTS INVALID",
                "MODE 6 INPUTS INVALID",
                "BANK ANGLE INPUTS INVALID",
                "TCF INPUTS INVALID"
            };
 
            for (size_t i = 0; i < n_elements(fault_names); i++)
            {
                if (mk->fault_handler.faults & (1<<i))
                    present_status_subitem(fault_names[i]);
            }
        }
    }
    printf("\n");
 
    present_status_section("CONFIGURATION:");
 
    static const char *category_names[] = {
        "AIRCRAFT TYPE",
        "AIR DATA TYPE",
        "POSITION INPUT TYPE",
        "CALLOUTS OPTION TYPE",
        "AUDIO MENU TYPE",
        "TERRAIN DISPLAY TYPE",
        "OPTIONS 1 TYPE",
        "RADIO ALTITUDE TYPE",
        "NAVIGATION INPUT TYPE",
        "ATTITUDE TYPE",
        "MAGNETIC HEADING TYPE",
        "WINDSHEAR INPUT TYPE",
        "IO DISCRETE TYPE",
        "VOLUME SELECT"
    };
 
    for (size_t i = 0; i < n_elements(category_names); i++)
    {
        std::ostringstream value;
        value << "= " << mk->configuration_module.effective_categories[i];
        present_status_item(category_names[i], value.str().c_str());
    }
}
 
bool
MK_VIII::IOHandler::get_present_status () const
{
    return false;
}
 
void
MK_VIII::IOHandler::set_present_status (bool value)
{
    if (value)
        present_status();
}
 

// MK_VIII::VoicePlayer ///////////////////////////////////////////////////////
 
void
MK_VIII::VoicePlayer::init ()
{
    FGVoicePlayer::init();
 
#define STDPAUSE 0.75   // [SPEC] 6.4.4: "the standard 0.75 second delay"
    make_voice(&voices.application_data_base_failed, "application-data-base-failed");
    make_voice(&voices.bank_angle, "bank-angle");
    make_voice(&voices.bank_angle_bank_angle, "bank-angle", "bank-angle");
    make_voice(&voices.bank_angle_bank_angle_3, "bank-angle", "bank-angle", 3.0);
    make_voice(&voices.bank_angle_inop, "bank-angle-inop");
    make_voice(&voices.bank_angle_pause_bank_angle, "bank-angle", STDPAUSE, "bank-angle");
    make_voice(&voices.bank_angle_pause_bank_angle_3, "bank-angle", STDPAUSE, "bank-angle", 3.0);
    make_voice(&voices.callouts_inop, "callouts-inop");
    make_voice(&voices.configuration_type_invalid, "configuration-type-invalid");
    make_voice(&voices.dont_sink, "dont-sink");
    make_voice(&voices.dont_sink_pause_dont_sink, "dont-sink", STDPAUSE, "dont-sink");
    make_voice(&voices.five_hundred_above, "500-above");
    make_voice(&voices.glideslope, "glideslope");
    make_voice(&voices.glideslope_inop, "glideslope-inop");
    make_voice(&voices.gpws_inop, "gpws-inop");
    make_voice(&voices.hard_glideslope, "glideslope", "glideslope", 3.0);
    make_voice(&voices.retard, "retard");
    make_voice(&voices.minimums, "minimums");
    make_voice(&voices.minimums_100, "100-above");
    make_voice(&voices.minimums_minimums, "minimums", "minimums");
    make_voice(&voices.pull_up, "pull-up");
    make_voice(&voices.sink_rate, "sink-rate");
    make_voice(&voices.sink_rate_pause_sink_rate, "sink-rate", STDPAUSE, "sink-rate");
    make_voice(&voices.soft_glideslope, new Voice::SampleElement(get_sample("glideslope"), modify_amplitude(1.0, -6)));
    make_voice(&voices.terrain, "terrain");
    make_voice(&voices.terrain_pause_terrain, "terrain", STDPAUSE, "terrain");
    make_voice(&voices.too_low_flaps, "too-low-flaps");
    make_voice(&voices.too_low_gear, "too-low-gear");
    make_voice(&voices.too_low_terrain, "too-low-terrain");
 
    for (unsigned i = 0; i < n_altitude_callouts; i++)
    {
        std::ostringstream name;
        name << "altitude-" << MK_VIII::Mode6Handler::altitude_callout_definitions[i];
        make_voice(&voices.altitude_callouts[i], name.str().c_str());
    }
    speaker.update_configuration();
}

// SelfTestHandler ////////////////////////////////////////////////////////////
 
bool
MK_VIII::SelfTestHandler::_was_here (int position)
{
    if (position > current)
    {
        current = position;
        return false;
    }
 
    return true;
}
 
MK_VIII::SelfTestHandler::Action
MK_VIII::SelfTestHandler::sleep (double duration)
{
    Action _action = { ACTION_SLEEP, duration, NULL };
    return _action;
}
 
MK_VIII::SelfTestHandler::Action
MK_VIII::SelfTestHandler::play (VoicePlayer::Voice *voice)
{
    mk->voice_player.play(voice);
    Action _action = { ACTION_VOICE, 0, NULL };
    return _action;
}
 
MK_VIII::SelfTestHandler::Action
MK_VIII::SelfTestHandler::discrete_on (bool *discrete, double duration)
{
    *discrete = true;
    return sleep(duration);
}
 
MK_VIII::SelfTestHandler::Action
MK_VIII::SelfTestHandler::discrete_on_off (bool *discrete, double duration)
{
    *discrete = true;
    Action _action = { ACTION_SLEEP | ACTION_DISCRETE_ON_OFF, duration, discrete };
    return _action;
}
 
MK_VIII::SelfTestHandler::Action
MK_VIII::SelfTestHandler::discrete_on_off (bool *discrete, VoicePlayer::Voice *voice)
{
    *discrete = true;
    mk->voice_player.play(voice);
    Action _action = { ACTION_VOICE | ACTION_DISCRETE_ON_OFF, 0, discrete };
    return _action;
}
 
MK_VIII::SelfTestHandler::Action
MK_VIII::SelfTestHandler::done ()
{
    Action _action = { ACTION_DONE, 0, NULL };
    return _action;
}
 
MK_VIII::SelfTestHandler::Action
MK_VIII::SelfTestHandler::run ()
{
    // Note that "Terrain INOP" and "Terrain NA" are or'ed to the same
    // output discrete (see [SPEC] 6.9.3.5).
 
#define was_here()        was_here_offset(0)
#define was_here_offset(offset)    _was_here(__LINE__ * 20 + (offset))
 
    if (! was_here())
    {
        if (mk->configuration_module.state == ConfigurationModule::STATE_INVALID_DATABASE)
            return play(mk_voice(application_data_base_failed));
        else if (mk->configuration_module.state == ConfigurationModule::STATE_INVALID_AIRCRAFT_TYPE)
            return play(mk_voice(configuration_type_invalid));
    }
    if (mk->configuration_module.state != ConfigurationModule::STATE_OK)
        return done();
 
    if (! was_here())
        return discrete_on(&mk_doutput(gpws_inop), 0.7);
    if (! was_here())
        return sleep(0.7);        // W/S INOP
    if (! was_here())
        return discrete_on(&mk_doutput(tad_inop), 0.7);
    if (! was_here())
    {
        mk_doutput(gpws_inop) = false;
        // do not disable tad_inop since we must enable Terrain NA
        // do not disable W/S INOP since we do not emulate it
        return sleep(0.7);    // Terrain NA
    }
    if (! was_here())
    {
        mk_doutput(tad_inop) = false; // disable Terrain NA
        if (mk->io_handler.conf.momentary_flap_override_enabled)
            return discrete_on_off(&mk_doutput(flap_override), 1.0);
    }
    if (! was_here())
        return discrete_on_off(&mk_doutput(audio_on), 1.0);
    if (! was_here())
    {
        if (mk->io_handler.momentary_steep_approach_enabled())
            return discrete_on_off(&mk_doutput(steep_approach), 1.0);
    }
 
    if (! was_here())
    {
        if (mk_dinput(glideslope_inhibit))
            goto glideslope_end;
        else
        {
            if (mk->fault_handler.faults & (1<<FaultHandler::FAULT_MODE5_INPUTS_INVALID))
                goto glideslope_inop;
        }
    }
    if (! was_here())
        return discrete_on_off(&mk_doutput(gpws_alert), mk_voice(glideslope));
    if (! was_here())
        return discrete_on_off(&mk_doutput(glideslope_cancel), 0.7);
    goto glideslope_end;
 
glideslope_inop:
    if (! was_here())
        return play(mk_voice(glideslope_inop));
 
glideslope_end:
    if (! was_here())
    {
        if (mk->fault_handler.faults & (1<<FaultHandler::FAULT_MODES14_INPUTS_INVALID))
            goto gpws_inop;
    }
    if (! was_here())
        return discrete_on_off(&mk_doutput(gpws_warning), mk_voice(pull_up));
    goto gpws_end;
 
gpws_inop:
    if (! was_here())
        return play(mk_voice(gpws_inop));
 
gpws_end:
    if (! was_here())
    {
        if (mk_dinput(self_test))    // proceed to long self test
            goto long_test;
    }
    if (! was_here())
    {
        if (mk->mode6_handler.conf.bank_angle_enabled
        && (mk->fault_handler.faults & (1<<FaultHandler::FAULT_BANK_ANGLE_INPUTS_INVALID)))
            return play(mk_voice(bank_angle_inop));
    }
    if (! was_here())
    {
        if (mk->mode6_handler.altitude_callouts_enabled()
        && (mk->fault_handler.faults & (1<<FaultHandler::FAULT_MODE6_INPUTS_INVALID)))
            return play(mk_voice(callouts_inop));
    }
    if (! was_here())
        return done();
 
long_test:
    if (! was_here())
    {
        mk_doutput(gpws_inop) = true;
        // do not enable W/S INOP, since we do not emulate it
        mk_doutput(tad_inop) = true; // Terrain INOP, Terrain NA
 
        return play(mk_voice(sink_rate));
    }
    if (! was_here())
        return play(mk_voice(pull_up));
    if (! was_here())
        return play(mk_voice(terrain));
    if (! was_here())
        return play(mk_voice(pull_up));
    if (! was_here())
        return play(mk_voice(dont_sink));
    if (! was_here())
        return play(mk_voice(too_low_terrain));
    if (! was_here())
        return play(mk->mode4_handler.conf.voice_too_low_gear);
    if (! was_here())
        return play(mk_voice(too_low_flaps));
    if (! was_here())
        return play(mk_voice(too_low_terrain));
    if (! was_here())
        return play(mk_voice(glideslope));
    if (! was_here())
    {
        if (mk->mode6_handler.conf.bank_angle_enabled)
            return play(mk_voice(bank_angle));
    }
 
    if (! was_here())
    {
        if (! mk->mode6_handler.altitude_callouts_enabled())
            goto callouts_disabled;
    }
    if (! was_here())
    {
        if (mk->mode6_handler.conf.minimums_above_100_enabled)
            return play(mk_voice(minimums_100));
    }
    if (! was_here())
    {
        if (mk->mode6_handler.conf.minimums_enabled)
            return play(mk_voice(minimums));
    }
    if (! was_here())
    {
        if (mk->mode6_handler.conf.above_field_voice)
            return play(mk->mode6_handler.conf.above_field_voice);
    }
    for (unsigned i = 0; i < n_altitude_callouts; i++)
    {
        if (! was_here_offset(i))
        {
            if (mk->mode6_handler.conf.altitude_callouts_enabled & (1<<i))
                return play(mk_altitude_voice(i));
        }
    }
 
    if (! was_here())
    {
        if (mk->mode6_handler.conf.smart_500_enabled)
            return play(mk_altitude_voice(Mode6Handler::ALTITUDE_CALLOUT_500));
    }
    goto callouts_end;
 
callouts_disabled:
    if (! was_here())
        return play(mk_voice(minimums_minimums));
 
callouts_end:
    if (! was_here())
    {
        if (mk->tcf_handler.conf.enabled)
            return play(mk_voice(too_low_terrain));
    }
 
    return done();
}
 
void
MK_VIII::SelfTestHandler::start ()
{
    assert(state == STATE_START);
 
    memcpy(&saved_outputs, &mk->io_handler.outputs, sizeof(mk->io_handler.outputs));
    memset(&mk->io_handler.outputs, 0, sizeof(mk->io_handler.outputs));
 
    // [SPEC] 6.10.6: "The self-test results are annunciated, at 6db
    // lower than the normal audio level selected for the aircraft"
    mk->voice_player.set_volume(modify_amplitude(mk->voice_player.conf.volume, -6));
 
    if (mk_dinput(mode6_low_volume))
        mk->mode6_handler.set_volume(1.0);
 
    state = STATE_RUNNING;
    cancel = CANCEL_NONE;
    memset(&action, 0, sizeof(action));
    current = 0;
}
 
void
MK_VIII::SelfTestHandler::stop ()
{
    if (state != STATE_NONE)
    {
        if (state != STATE_START)
        {
            mk->voice_player.stop(VoicePlayer::STOP_NOW);
            mk->voice_player.set_volume(mk_dinput(audio_inhibit) ? 0.0 : mk->voice_player.conf.volume);
 
            if (mk_dinput(mode6_low_volume))
                mk->mode6_handler.set_volume(modify_amplitude(1.0, -6));
 
            memcpy(&mk->io_handler.outputs, &saved_outputs, sizeof(mk->io_handler.outputs));
        }
 
        button_pressed = false;
        state = STATE_NONE;
        // reset self-test handler position
        current = 0;
    }
}
 
void
MK_VIII::SelfTestHandler::handle_button_event (bool value)
{
    if (state == STATE_NONE)
    {
        if (value)
            state = STATE_START;
    }
    else if (state == STATE_START)
    {
        if (value)
            state = STATE_NONE;    // cancel the not-yet-started test
    }
    else if (cancel == CANCEL_NONE)
    {
        if (value)
        {
            assert(! button_pressed);
            button_pressed = true;
            button_press_timestamp = globals->get_sim_time_sec();
        }
        else
        {
            if (button_pressed)
            {
                if (globals->get_sim_time_sec() - button_press_timestamp < 2)
                    cancel = CANCEL_SHORT;
                else
                    cancel = CANCEL_LONG;
            }
        }
    }
}
 
bool
MK_VIII::SelfTestHandler::update ()
{
    if (state == STATE_NONE)
        return false;
    else if (state == STATE_START)
    {
        if (mk->state_handler.ground && ! mk->io_handler.steep_approach())
            start();
        else
        {
            state = STATE_NONE;
            return false;
        }
    }
    else
    {
        if (button_pressed && cancel == CANCEL_NONE)
        {
            if (globals->get_sim_time_sec() - button_press_timestamp >= 2)
                cancel = CANCEL_LONG;
        }
    }
 
    if (! mk->state_handler.ground || cancel != CANCEL_NONE)
    {
        stop();
        return false;
    }
 
    if (test_bits(action.flags, ACTION_SLEEP))
    {
        if (globals->get_sim_time_sec() - sleep_start < action.sleep_duration)
            return true;
    }
    if (test_bits(action.flags, ACTION_VOICE))
    {
        if (mk->voice_player.voice)
            return true;
    }
    if (test_bits(action.flags, ACTION_DISCRETE_ON_OFF))
        *action.discrete = false;
 
    action = run();
 
    if (test_bits(action.flags, ACTION_SLEEP))
        sleep_start = globals->get_sim_time_sec();
    if (test_bits(action.flags, ACTION_DONE))
    {
        stop();
        return false;
    }
 
    return true;
}

// AlertHandler ///////////////////////////////////////////////////////////////
 
bool
MK_VIII::AlertHandler::select_voice_alerts (unsigned int test)
{
    if (has_alerts(test))
    {
        voice_alerts = alerts & test;
        return true;
    }
    else
    {
        voice_alerts &= ~test;
        if (voice_alerts == 0)
            mk->voice_player.stop();
 
        return false;
    }
}
 
void
MK_VIII::AlertHandler::boot ()
{
    reset();
}
 
void
MK_VIII::AlertHandler::reposition ()
{
    reset();
 
    mk->io_handler.set_lamp(IOHandler::LAMP_NONE);
    mk->voice_player.stop(VoicePlayer::STOP_NOW);
}
 
void
MK_VIII::AlertHandler::reset ()
{
    alerts = 0;
    old_alerts = 0;
    voice_alerts = 0;
    repeated_alerts = 0;
    altitude_callout_voice = NULL;
}
 
void
MK_VIII::AlertHandler::update ()
{
    if (mk->configuration_module.state != ConfigurationModule::STATE_OK)
        return;
 
    // Lamps and voices are prioritized according to [SPEC] 6.9.2.
    //
    // Voices which can interrupt other voices (VoicePlayer::PLAY_NOW)
    // are specified by [INSTALL] appendix E 5.3.5.
    //
    // When a voice is overriden by a higher priority voice and the
    // overriding voice stops, we restore the previous voice if it was
    // looped (this is not specified by [SPEC] but seems to make sense).
 
    // update lamp
 
    if (has_alerts(ALERT_MODE1_PULL_UP | ALERT_MODE2A | ALERT_MODE2B))
        mk->io_handler.set_lamp(IOHandler::LAMP_WARNING);
    else if (has_alerts(ALERT_MODE1_SINK_RATE
              | ALERT_MODE2A_PREFACE
              | ALERT_MODE2B_PREFACE
              | ALERT_MODE2A_ALTITUDE_GAIN_TERRAIN_CLOSING
              | ALERT_MODE2A_ALTITUDE_GAIN
              | ALERT_MODE2B_LANDING_MODE
              | ALERT_MODE3
              | ALERT_MODE4_TOO_LOW_FLAPS
              | ALERT_MODE4_TOO_LOW_GEAR
              | ALERT_MODE4AB_TOO_LOW_TERRAIN
              | ALERT_MODE4C_TOO_LOW_TERRAIN
              | ALERT_TCF_TOO_LOW_TERRAIN))
        mk->io_handler.set_lamp(IOHandler::LAMP_CAUTION);
    else if (has_alerts(ALERT_MODE5_SOFT | ALERT_MODE5_HARD))
        mk->io_handler.set_lamp(IOHandler::LAMP_GLIDESLOPE);
    else
        mk->io_handler.set_lamp(IOHandler::LAMP_NONE);
 
    // update voice
 
    if (select_voice_alerts(ALERT_MODE1_PULL_UP))
    {
        if (! has_old_alerts(ALERT_MODE1_PULL_UP))
        {
            if (mk->voice_player.voice != mk_voice(sink_rate_pause_sink_rate))
                mk->voice_player.play(mk_voice(sink_rate), VoicePlayer::PLAY_NOW);
            mk->voice_player.play(mk_voice(pull_up), VoicePlayer::PLAY_LOOPED);
        }
    }
    else if (select_voice_alerts(ALERT_MODE2A_PREFACE | ALERT_MODE2B_PREFACE))
    {
        if (! has_old_alerts(ALERT_MODE2A_PREFACE | ALERT_MODE2B_PREFACE))
            mk->voice_player.play(mk_voice(terrain_pause_terrain), VoicePlayer::PLAY_NOW);
    }
    else if (select_voice_alerts(ALERT_MODE2A | ALERT_MODE2B))
    {
        if (mk->voice_player.voice != mk_voice(pull_up))
            mk->voice_player.play(mk_voice(pull_up), VoicePlayer::PLAY_NOW | VoicePlayer::PLAY_LOOPED);
    }
    else if (select_voice_alerts(ALERT_MODE2A_ALTITUDE_GAIN_TERRAIN_CLOSING | ALERT_MODE2B_LANDING_MODE))
    {
        if (mk->voice_player.voice != mk_voice(terrain))
            mk->voice_player.play(mk_voice(terrain), VoicePlayer::PLAY_LOOPED);
    }
    else if (select_voice_alerts(ALERT_MODE6_MINIMUMS))
    {
        if (! has_old_alerts(ALERT_MODE6_MINIMUMS))
            mk->voice_player.play(mk_voice(minimums_minimums));
    }
    else if (select_voice_alerts(ALERT_MODE6_MINIMUMS_100))
    {
        if (! has_old_alerts(ALERT_MODE6_MINIMUMS_100))
            mk->voice_player.play(mk_voice(minimums_100));
    }
    else if (select_voice_alerts(ALERT_MODE6_RETARD))
    {
        if (must_play_voice(ALERT_MODE6_RETARD))
            mk->voice_player.play(mk_voice(retard), VoicePlayer::PLAY_LOOPED);
    }
    else if (select_voice_alerts(ALERT_MODE4AB_TOO_LOW_TERRAIN | ALERT_MODE4C_TOO_LOW_TERRAIN))
    {
        if (must_play_voice(ALERT_MODE4AB_TOO_LOW_TERRAIN | ALERT_MODE4C_TOO_LOW_TERRAIN))
            mk->voice_player.play(mk_voice(too_low_terrain));
    }
    else if (select_voice_alerts(ALERT_TCF_TOO_LOW_TERRAIN))
    {
        if (must_play_voice(ALERT_TCF_TOO_LOW_TERRAIN))
            mk->voice_player.play(mk_voice(too_low_terrain));
    }
    else if (select_voice_alerts(ALERT_MODE6_ALTITUDE_CALLOUT))
    {
        if (! has_old_alerts(ALERT_MODE6_ALTITUDE_CALLOUT))
        {
            assert(altitude_callout_voice != NULL);
            mk->voice_player.play(altitude_callout_voice);
            altitude_callout_voice = NULL;
        }
    }
    else if (select_voice_alerts(ALERT_MODE4_TOO_LOW_GEAR))
    {
        if (must_play_voice(ALERT_MODE4_TOO_LOW_GEAR))
            mk->voice_player.play(mk->mode4_handler.conf.voice_too_low_gear);
    }
    else if (select_voice_alerts(ALERT_MODE4_TOO_LOW_FLAPS))
    {
        if (must_play_voice(ALERT_MODE4_TOO_LOW_FLAPS))
            mk->voice_player.play(mk_voice(too_low_flaps));
    }
    else if (select_voice_alerts(ALERT_MODE1_SINK_RATE))
    {
        if (must_play_voice(ALERT_MODE1_SINK_RATE))
            mk->voice_player.play(mk_voice(sink_rate_pause_sink_rate));
        // [SPEC] 6.2.1: "During the time that the voice message for the
        // outer envelope is inhibited and the caution/warning lamp is
        // on, the Mode 5 alert message is allowed to annunciate for
        // excessive glideslope deviation conditions."
        else if (mk->voice_player.voice != mk_voice(sink_rate_pause_sink_rate)
              && mk->voice_player.next_voice != mk_voice(sink_rate_pause_sink_rate))
        {
            if (has_alerts(ALERT_MODE5_HARD))
            {
                voice_alerts |= ALERT_MODE5_HARD;
                if (mk->voice_player.voice != mk_voice(hard_glideslope))
                    mk->voice_player.play(mk_voice(hard_glideslope), VoicePlayer::PLAY_LOOPED);
            }
            else if (has_alerts(ALERT_MODE5_SOFT))
            {
                voice_alerts |= ALERT_MODE5_SOFT;
                if (must_play_voice(ALERT_MODE5_SOFT))
                    mk->voice_player.play(mk_voice(soft_glideslope));
            }
        }
    }
    else if (select_voice_alerts(ALERT_MODE3))
    {
        if (must_play_voice(ALERT_MODE3))
            mk->voice_player.play(mk_voice(dont_sink_pause_dont_sink));
    }
    else if (select_voice_alerts(ALERT_MODE5_HARD))
    {
        if (mk->voice_player.voice != mk_voice(hard_glideslope))
            mk->voice_player.play(mk_voice(hard_glideslope), VoicePlayer::PLAY_LOOPED);
    }
    else if (select_voice_alerts(ALERT_MODE5_SOFT))
    {
        if (must_play_voice(ALERT_MODE5_SOFT))
            mk->voice_player.play(mk_voice(soft_glideslope));
    }
    else if (select_voice_alerts(ALERT_MODE6_LOW_BANK_ANGLE_3))
    {
        if (mk->voice_player.voice != mk_voice(bank_angle_bank_angle_3))
            mk->voice_player.play(mk_voice(bank_angle_bank_angle_3), VoicePlayer::PLAY_LOOPED);
    }
    else if (select_voice_alerts(ALERT_MODE6_HIGH_BANK_ANGLE_3))
    {
        if (mk->voice_player.voice != mk_voice(bank_angle_pause_bank_angle_3))
            mk->voice_player.play(mk_voice(bank_angle_pause_bank_angle_3), VoicePlayer::PLAY_LOOPED);
    }
    else if (select_voice_alerts(ALERT_MODE6_LOW_BANK_ANGLE_2))
    {
        if (! has_old_alerts(ALERT_MODE6_LOW_BANK_ANGLE_2 | ALERT_MODE6_HIGH_BANK_ANGLE_2))
            mk->voice_player.play(mk_voice(bank_angle_bank_angle));
    }
    else if (select_voice_alerts(ALERT_MODE6_HIGH_BANK_ANGLE_2))
    {
        if (! has_old_alerts(ALERT_MODE6_LOW_BANK_ANGLE_2 | ALERT_MODE6_HIGH_BANK_ANGLE_2))
            mk->voice_player.play(mk_voice(bank_angle_pause_bank_angle));
    }
    else if (select_voice_alerts(ALERT_MODE6_LOW_BANK_ANGLE_1))
    {
        if (! has_old_alerts(ALERT_MODE6_LOW_BANK_ANGLE_1 | ALERT_MODE6_HIGH_BANK_ANGLE_1))
            mk->voice_player.play(mk_voice(bank_angle_bank_angle));
    }
    else if (select_voice_alerts(ALERT_MODE6_HIGH_BANK_ANGLE_1))
    {
        if (! has_old_alerts(ALERT_MODE6_LOW_BANK_ANGLE_1 | ALERT_MODE6_HIGH_BANK_ANGLE_1))
            mk->voice_player.play(mk_voice(bank_angle_pause_bank_angle));
    }
 
    // remember all alerts voiced so far...
    old_alerts |= voice_alerts;
    // ... forget those no longer active
    old_alerts &= alerts;
    repeated_alerts = 0;
}
 
void
MK_VIII::AlertHandler::set_alerts (unsigned int _alerts,
                   unsigned int flags,
                   VoicePlayer::Voice *_altitude_callout_voice)
{
    alerts |= _alerts;
    if (test_bits(flags, ALERT_FLAG_REPEAT))
        repeated_alerts |= _alerts;
    if (_altitude_callout_voice)
        altitude_callout_voice = _altitude_callout_voice;
}
 
void
MK_VIII::AlertHandler::unset_alerts (unsigned int _alerts)
{
    alerts &= ~_alerts;
    repeated_alerts &= ~_alerts;
    if (_alerts & ALERT_MODE6_ALTITUDE_CALLOUT)
        altitude_callout_voice = NULL;
}

// StateHandler ///////////////////////////////////////////////////////////////
 
void
MK_VIII::StateHandler::update_ground ()
{
    if (ground)
    {
        if (! mk_ainput(computed_airspeed).ncd && mk_ainput(computed_airspeed).get() > 60
         && ! mk_data(radio_altitude).ncd && mk_data(radio_altitude).get() > 30)
        {
            if (potentially_airborne_timer.start_or_elapsed() > 1)
                leave_ground();
        }
        else
            potentially_airborne_timer.stop();
    }
    else
    {
        if (! mk_ainput(computed_airspeed).ncd && mk_ainput(computed_airspeed).get() < 40
         && ! mk_data(radio_altitude).ncd && mk_data(radio_altitude).get() < 30)
            enter_ground();
    }
}
 
void
MK_VIII::StateHandler::enter_ground ()
{
    ground = true;
    mk->io_handler.enter_ground();
 
    // [SPEC] 6.0.1 does not specify this, but it seems to be an
    // omission; at this point, we must make sure that we are in takeoff
    // mode (otherwise the next takeoff might happen in approach mode).
    if (! takeoff)
        enter_takeoff();
}
 
void
MK_VIII::StateHandler::leave_ground ()
{
    ground = false;
    mk->mode2_handler.leave_ground();
}
 
void
MK_VIII::StateHandler::update_takeoff ()
{
    if (takeoff)
    {
        // [SPEC] 6.0.2 is somewhat confusing: it mentions hardcoded
        // terrain clearance (500, 750) and airspeed (178, 200) values,
        // but it also mentions the mode 4A boundary, which varies as a
        // function of aircraft type. We consider that the mentioned
        // values are examples, and that we should use the mode 4A upper
        // boundary.
 
        if (! mk_data(terrain_clearance).ncd
         && ! mk_ainput(computed_airspeed).ncd
         && mk_data(terrain_clearance).get() > mk->mode4_handler.get_upper_agl(mk->mode4_handler.conf.modes->ac))
            leave_takeoff();
    }
    else
    {
        if (! mk_data(radio_altitude).ncd
         && mk_data(radio_altitude).get() < mk->mode4_handler.conf.modes->b->min_agl1
         && mk->io_handler.flaps_down()
         && mk_dinput(landing_gear))
            enter_takeoff();
    }
}
 
void
MK_VIII::StateHandler::enter_takeoff ()
{
    takeoff = true;
    mk->io_handler.enter_takeoff();
    mk->mode2_handler.enter_takeoff();
    mk->mode3_handler.enter_takeoff();
    mk->mode6_handler.enter_takeoff();
}
 
void
MK_VIII::StateHandler::leave_takeoff ()
{
    takeoff = false;
    mk->mode6_handler.leave_takeoff();
}
 
void
MK_VIII::StateHandler::post_reposition ()
{
    // Synchronize the state with the current situation.
 
    bool _ground = !
        (! mk_ainput(computed_airspeed).ncd && mk_ainput(computed_airspeed).get() > 60
         && ! mk_data(radio_altitude).ncd && mk_data(radio_altitude).get() > 30);
 
    bool _takeoff = _ground;
 
    if (ground && ! _ground)
        leave_ground();
    else if ((!ground) && _ground)
        enter_ground();
 
    if (takeoff && (!_takeoff))
        leave_takeoff();
    else if ((!takeoff) && _takeoff)
        enter_takeoff();
}
 
void
MK_VIII::StateHandler::update ()
{
    if (mk->configuration_module.state != ConfigurationModule::STATE_OK)
        return;
 
    update_ground();
    update_takeoff();
}

// Mode1Handler ///////////////////////////////////////////////////////////////
 
double
MK_VIII::Mode1Handler::get_pull_up_bias ()
{
    // [PILOT] page 54: "Steep Approach has priority over Flap Override
    // if selected simultaneously."
 
    if (mk->io_handler.steep_approach())
        return 200;
    else if (conf.envelopes->flap_override_bias && mk->io_handler.flap_override())
        return 300;
    else
        return 0;
}
 
bool
MK_VIII::Mode1Handler::is_pull_up ()
{
    if (! mk->io_handler.gpws_inhibit()
      && ! mk->state_handler.ground // [1]
      && ! mk_data(radio_altitude).ncd
      && ! mk_data(barometric_altitude_rate).ncd
      && mk_data(radio_altitude).get() > conf.envelopes->min_agl)
    {
        if (mk_data(radio_altitude).get() < conf.envelopes->pull_up_max_agl1)
        {
            if (mk_data(radio_altitude).get() < conf.envelopes->pull_up_min_agl1(mk_data(barometric_altitude_rate).get() + get_pull_up_bias()))
                return true;
        }
        else if (mk_data(radio_altitude).get() < conf.envelopes->pull_up_max_agl2)
        {
            if (mk_data(radio_altitude).get() < conf.envelopes->pull_up_min_agl2(mk_data(barometric_altitude_rate).get() + get_pull_up_bias()))
                return true;
        }
    }
 
    return false;
}
 
void
MK_VIII::Mode1Handler::update_pull_up ()
{
    if (is_pull_up())
    {
        if (! mk_test_alert(MODE1_PULL_UP))
        {
            // [SPEC] 6.2.1: at least one sink rate must be issued
            // before switching to pull up; if no sink rate has
            // occurred, a 0.2 second delay is used.
            if (mk->voice_player.voice == mk_voice(sink_rate_pause_sink_rate)
             || pull_up_timer.start_or_elapsed() >= 0.2)
                mk_set_alerts(mk_alert(MODE1_PULL_UP));
        }
    }
    else
    {
        pull_up_timer.stop();
        mk_unset_alerts(mk_alert(MODE1_PULL_UP));
    }
}
 
double
MK_VIII::Mode1Handler::get_sink_rate_bias ()
{
    // [PILOT] page 54: "Steep Approach has priority over Flap Override
    // if selected simultaneously."
 
    if (mk->io_handler.steep_approach())
        return 500;
    else if (conf.envelopes->flap_override_bias && mk->io_handler.flap_override())
        return 300;
    else if (! mk_data(glideslope_deviation_dots).ncd)
    {
        double bias = 0;
 
        if (mk_data(glideslope_deviation_dots).get() <= -2)
            bias = 300;
        else if (mk_data(glideslope_deviation_dots).get() < 0)
            bias = -150 * mk_data(glideslope_deviation_dots).get();
 
        if (mk_data(radio_altitude).get() < 100)
            bias *= 0.01 * mk_data(radio_altitude).get();
 
        return bias;
    }
    else
        return 0;
}
 
bool
MK_VIII::Mode1Handler::is_sink_rate ()
{
    return ! mk->io_handler.gpws_inhibit()
        && ! mk->state_handler.ground // [1]
        && ! mk_data(radio_altitude).ncd
        && ! mk_data(barometric_altitude_rate).ncd
        && mk_data(radio_altitude).get() > conf.envelopes->min_agl
        && mk_data(radio_altitude).get() < 2450
        && mk_data(radio_altitude).get() < -572 - 0.6035 * (mk_data(barometric_altitude_rate).get() + get_sink_rate_bias());
}
 
double
MK_VIII::Mode1Handler::get_sink_rate_tti ()
{
    return mk_data(radio_altitude).get() / fabs(mk_data(barometric_altitude_rate).get());
}
 
void
MK_VIII::Mode1Handler::update_sink_rate ()
{
    if (is_sink_rate())
    {
        if (mk_test_alert(MODE1_SINK_RATE))
        {
            double tti = get_sink_rate_tti();
            if (tti <= sink_rate_tti * 0.8)
            {
                // ~20% degradation, warn again and store the new reference tti
                sink_rate_tti = tti;
                mk_repeat_alert(mk_alert(MODE1_SINK_RATE));
            }
        }
        else
        {
            if (sink_rate_timer.start_or_elapsed() >= 0.8)
            {
                mk_set_alerts(mk_alert(MODE1_SINK_RATE));
                sink_rate_tti = get_sink_rate_tti();
            }
        }
    }
    else
    {
        sink_rate_timer.stop();
        mk_unset_alerts(mk_alert(MODE1_SINK_RATE));
    }
}
 
void
MK_VIII::Mode1Handler::update ()
{
    if (mk->configuration_module.state != ConfigurationModule::STATE_OK)
        return;
 
    update_pull_up();
    update_sink_rate();
}

// Mode2Handler ///////////////////////////////////////////////////////////////
 
double
MK_VIII::Mode2Handler::ClosureRateFilter::limit_radio_altitude_rate (double r)
{
    // Limit radio altitude rate according to aircraft configuration,
    // allowing maximum sensitivity during cruise while providing
    // progressively less sensitivity during the landing phases of
    // flight.
 
    if (! mk_data(glideslope_deviation_dots).ncd && fabs(mk_data(glideslope_deviation_dots).get()) <= 2)
    {                // gs deviation <= +- 2 dots
        if (mk_dinput(landing_gear) && mk->io_handler.flaps_down())
            SG_CLAMP_RANGE(r, -1000.0, 3000.0);
        else if (mk_dinput(landing_gear) || mk->io_handler.flaps_down())
            SG_CLAMP_RANGE(r, 0.0, 4000.0);
        else
            SG_CLAMP_RANGE(r, 1000.0, 5000.0);
    }
    else
    {                // no ILS, or gs deviation > +- 2 dots
        if (mk_dinput(landing_gear) && mk->io_handler.flaps_down())
            SG_CLAMP_RANGE(r, 0.0, 4000.0);
        else if (mk_dinput(landing_gear) || mk->io_handler.flaps_down())
            SG_CLAMP_RANGE(r, 1000.0, 5000.0);
        // else no clamp
    }
 
    return r;
}
 
void
MK_VIII::Mode2Handler::ClosureRateFilter::init ()
{
    timer.stop();
    last_ra.set(&mk_data(radio_altitude));
    last_ba.set(&mk_ainput(uncorrected_barometric_altitude));
    ra_filter.reset();
    ba_filter.reset();
    output.unset();
}
 
void
MK_VIII::Mode2Handler::ClosureRateFilter::update ()
{
    double elapsed = timer.start_or_elapsed();
    if (elapsed < 1)
        return;
 
    if (! mk_data(radio_altitude).ncd && ! mk_ainput(uncorrected_barometric_altitude).ncd)
    {
        if (! last_ra.ncd && ! last_ba.ncd)
        {
            // compute radio and barometric altitude rates (positive value = descent)
            double ra_rate = -(mk_data(radio_altitude).get() - last_ra.get()) / elapsed * 60;
            double ba_rate = -(mk_ainput(uncorrected_barometric_altitude).get() - last_ba.get()) / elapsed * 60;
 
            // limit radio altitude rate according to aircraft configuration
            ra_rate = limit_radio_altitude_rate(ra_rate);
 
            // apply a low-pass filter to the radio altitude rate
            ra_rate = ra_filter.filter(ra_rate);
            // apply a high-pass filter to the barometric altitude rate
            ba_rate = ba_filter.filter(ba_rate);
 
            // combine both rates to obtain a closure rate
            output.set(ra_rate + ba_rate);
        }
        else
            output.unset();
    }
    else
    {
        ra_filter.reset();
        ba_filter.reset();
        output.unset();
    }
 
    timer.start();
    last_ra.set(&mk_data(radio_altitude));
    last_ba.set(&mk_ainput(uncorrected_barometric_altitude));
}
 
bool
MK_VIII::Mode2Handler::b_conditions ()
{
    return mk->io_handler.flaps_down()
      || (! mk_data(glideslope_deviation_dots).ncd && fabs(mk_data(glideslope_deviation_dots).get()) < 2)
      || takeoff_timer.running;
}
 
bool
MK_VIII::Mode2Handler::is_a ()
{
    if (! mk->io_handler.gpws_inhibit()
        && ! mk->state_handler.ground // [1]
        && ! mk_data(radio_altitude).ncd
        && ! mk_ainput(computed_airspeed).ncd
        && ! closure_rate_filter.output.ncd
        && ! b_conditions())
    {
        if (mk_data(radio_altitude).get() < 1220)
        {
            if (mk_data(radio_altitude).get() < -1579 + 0.7895 * closure_rate_filter.output.get())
                return true;
        }
        else
        {
            double upper_limit;
 
            if (mk_ainput(computed_airspeed).get() <= conf->airspeed1)
                upper_limit = 1650;
            else if (mk_ainput(computed_airspeed).get() >= conf->airspeed2)
                upper_limit = 2450;
            else
                upper_limit = 1650 + 8.9 * (mk_ainput(computed_airspeed).get() - conf->airspeed1);
 
            if (mk_data(radio_altitude).get() < upper_limit)
            {
                if (mk_data(radio_altitude).get() < 522 + 0.1968 * closure_rate_filter.output.get())
                    return true;
            }
        }
    }
 
    return false;
}
 
bool
MK_VIII::Mode2Handler::is_b ()
{
    if (! mk->io_handler.gpws_inhibit()
     && ! mk->state_handler.ground // [1]
     && ! mk_data(radio_altitude).ncd
     && ! mk_data(barometric_altitude_rate).ncd
     && ! closure_rate_filter.output.ncd
     && b_conditions()
     && mk_data(radio_altitude).get() < 789)
    {
        double lower_limit;
 
        if (mk->io_handler.flaps_down())
        {
            if (mk_data(barometric_altitude_rate).get() > -400)
                lower_limit = 200;
            else if (mk_data(barometric_altitude_rate).get() < -1000)
                lower_limit = 600;
            else
                lower_limit = -66.777 - 0.667 * mk_data(barometric_altitude_rate).get();
        }
        else
            lower_limit = 30;
 
        if (mk_data(radio_altitude).get() > lower_limit)
        {
            if (mk_data(radio_altitude).get() < -1579 + 0.7895 * closure_rate_filter.output.get())
                return true;
        }
    }
 
    return false;
}
 
void
MK_VIII::Mode2Handler::check_pull_up (unsigned int preface_alert,
                      unsigned int alert)
{
    if (pull_up_timer.running)
    {
        if (pull_up_timer.elapsed() >= 1)
        {
            mk_unset_alerts(preface_alert);
            mk_set_alerts(alert);
        }
    }
    else
    {
        if (! mk->voice_player.voice)
            pull_up_timer.start();
    }
}
 
void
MK_VIII::Mode2Handler::update_a ()
{
    if (is_a())
    {
        if (mk_test_alert(MODE2A_PREFACE))
            check_pull_up(mk_alert(MODE2A_PREFACE), mk_alert(MODE2A));
        else if (! mk_test_alert(MODE2A))
        {
            mk_unset_alerts(mk_alert(MODE2A_ALTITUDE_GAIN) | mk_alert(MODE2A_ALTITUDE_GAIN_TERRAIN_CLOSING));
            mk_set_alerts(mk_alert(MODE2A_PREFACE));
            a_start_time = globals->get_sim_time_sec();
            pull_up_timer.stop();
        }
    }
    else
    {
        if (mk_test_alert(MODE2A_ALTITUDE_GAIN))
        {
            if (mk->io_handler.gpws_inhibit()
              || mk->state_handler.ground // [1]
              || a_altitude_gain_timer.elapsed() >= 45
              || mk_data(radio_altitude).ncd
              || mk_ainput(uncorrected_barometric_altitude).ncd
              || mk_ainput(uncorrected_barometric_altitude).get() - a_altitude_gain_alt >= 300
              // [PILOT] page 12: "the visual alert will remain on
              // until [...] landing flaps or the flap override switch
              // is activated"
              || mk->io_handler.flaps_down())
            {
                // exit altitude gain mode
                a_altitude_gain_timer.stop();
                mk_unset_alerts(mk_alert(MODE2A_ALTITUDE_GAIN) | mk_alert(MODE2A_ALTITUDE_GAIN_TERRAIN_CLOSING));
            }
            else
            {
                // [SPEC] 6.2.2.2: "If the terrain starts to fall away
                // during this altitude gain time, the voice will shut
                // off"
                if (closure_rate_filter.output.get() < 0)
                    mk_unset_alerts(mk_alert(MODE2A_ALTITUDE_GAIN_TERRAIN_CLOSING));
            }
        }
        else if (mk_test_alerts(mk_alert(MODE2A_PREFACE) | mk_alert(MODE2A)))
        {
            mk_unset_alerts(mk_alert(MODE2A_PREFACE) | mk_alert(MODE2A));
 
            if (! mk->io_handler.gpws_inhibit()
             && ! mk->state_handler.ground // [1]
             && globals->get_sim_time_sec() - a_start_time > 3
             && ! mk->io_handler.flaps_down()
             && ! mk_data(radio_altitude).ncd
             && ! mk_ainput(uncorrected_barometric_altitude).ncd)
            {
                // [SPEC] 6.2.2.2: mode 2A envelope violated for more
                // than 3 seconds, enable altitude gain feature
 
                a_altitude_gain_timer.start();
                a_altitude_gain_alt = mk_ainput(uncorrected_barometric_altitude).get();
 
                unsigned int alerts = mk_alert(MODE2A_ALTITUDE_GAIN);
                if (closure_rate_filter.output.get() > 0)
                    alerts |= mk_alert(MODE2A_ALTITUDE_GAIN_TERRAIN_CLOSING);
 
                mk_set_alerts(alerts);
            }
        }
    }
}
 
void
MK_VIII::Mode2Handler::update_b ()
{
    bool b = is_b();
 
    // handle normal mode
 
    if (b && (! mk_dinput(landing_gear) || ! mk->io_handler.flaps_down()))
    {
        if (mk_test_alert(MODE2B_PREFACE))
            check_pull_up(mk_alert(MODE2B_PREFACE), mk_alert(MODE2B));
        else if (! mk_test_alert(MODE2B))
        {
            mk_set_alerts(mk_alert(MODE2B_PREFACE));
            pull_up_timer.stop();
        }
    }
    else
        mk_unset_alerts(mk_alert(MODE2B_PREFACE) | mk_alert(MODE2B));
 
    // handle landing mode ([SPEC] 6.2.2.3: "If both landing gear and
    // flaps are in the landing configuration, then the message will be
    // Terrain")
 
    if (b && mk_dinput(landing_gear) && mk->io_handler.flaps_down())
        mk_set_alerts(mk_alert(MODE2B_LANDING_MODE));
    else
        mk_unset_alerts(mk_alert(MODE2B_LANDING_MODE));
}
 
void
MK_VIII::Mode2Handler::boot ()
{
    closure_rate_filter.init();
}
 
void
MK_VIII::Mode2Handler::power_off ()
{
    // [SPEC] 6.0.4: "This latching function is not power saved and a
    // system reset will force it false."
    takeoff_timer.stop();
}
 
void
MK_VIII::Mode2Handler::leave_ground ()
{
    // takeoff, reset timer
    takeoff_timer.start();
}
 
void
MK_VIII::Mode2Handler::enter_takeoff ()
{
    // reset timer, in case it's a go-around
    takeoff_timer.start();
}
 
void
MK_VIII::Mode2Handler::update ()
{
    if (mk->configuration_module.state != ConfigurationModule::STATE_OK)
        return;
 
    closure_rate_filter.update();
 
    if (takeoff_timer.running && takeoff_timer.elapsed() >= 60)
        takeoff_timer.stop();
 
    update_a();
    update_b();
}

// Mode3Handler ///////////////////////////////////////////////////////////////
 
double
MK_VIII::Mode3Handler::max_alt_loss (double _bias)
{
    return conf->max_alt_loss(mk->io_handler.flap_override(), mk_data(radio_altitude).get()) + mk_data(radio_altitude).get() * _bias;
}
 
double
MK_VIII::Mode3Handler::get_bias (double initial_bias, double alt_loss)
{
    // do not repeat altitude-loss alerts below 30ft agl
    if (mk_data(radio_altitude).get() > 30)
    {
        if (initial_bias < 0.0) // sanity check
            initial_bias = 0.0;
        // mk-viii spec: repeat alerts whenever losing 20% of initial altitude
        while ((alt_loss > max_alt_loss(initial_bias))&&
               (initial_bias < 1.0))
        {
            initial_bias += 0.2;
        }
    }
 
    return initial_bias;
}
 
bool
MK_VIII::Mode3Handler::is (double *alt_loss)
{
    if (has_descent_alt)
    {
        int max_agl = conf->max_agl(mk->io_handler.flap_override());
 
        if (mk_ainput(uncorrected_barometric_altitude).ncd
         || mk_ainput(uncorrected_barometric_altitude).get() > descent_alt
         || mk_data(radio_altitude).ncd
         || mk_data(radio_altitude).get() > max_agl)
        {
            armed = false;
            has_descent_alt = false;
        }
        else
        {
            // gear/flaps: [SPEC] 1.3.1.3
            if (! mk->io_handler.gpws_inhibit()
             && ! mk->state_handler.ground // [1]
             && (! mk_dinput(landing_gear) || ! mk->io_handler.flaps_down())
             && ! mk_data(barometric_altitude_rate).ncd
             && ! mk_ainput(uncorrected_barometric_altitude).ncd
             && ! mk_data(radio_altitude).ncd
             && mk_data(barometric_altitude_rate).get() < 0)
            {
                double _alt_loss = descent_alt - mk_ainput(uncorrected_barometric_altitude).get();
                if (armed || (mk_data(radio_altitude).get() > conf->min_agl
                 && mk_data(radio_altitude).get() < max_agl
                 && _alt_loss > max_alt_loss(0)))
                {
                    *alt_loss = _alt_loss;
                    return true;
                }
            }
        }
    }
    else
    {
        if (! mk_data(barometric_altitude_rate).ncd
         && ! mk_ainput(uncorrected_barometric_altitude).ncd
         && mk_data(barometric_altitude_rate).get() < 0)
        {
            has_descent_alt = true;
            descent_alt = mk_ainput(uncorrected_barometric_altitude).get();
        }
    }
 
    return false;
}
 
void
MK_VIII::Mode3Handler::enter_takeoff ()
{
    armed = false;
    has_descent_alt = false;
}
 
void
MK_VIII::Mode3Handler::update ()
{
    if (mk->configuration_module.state != ConfigurationModule::STATE_OK)
        return;
 
    if (mk->state_handler.takeoff)
    {
        double alt_loss;
 
        if (! mk->state_handler.ground /* [1] */ && is(&alt_loss))
        {
            if (mk_test_alert(MODE3))
            {
                double new_bias = get_bias(bias, alt_loss);
                if (new_bias > bias)
                {
                    bias = new_bias;
                    mk_repeat_alert(mk_alert(MODE3));
                }
            }
            else
            {
                armed = true;
                bias = get_bias(0.2, alt_loss);
                mk_set_alerts(mk_alert(MODE3));
            }
 
            return;
        }
    }
 
    mk_unset_alerts(mk_alert(MODE3));
}

// Mode4Handler ///////////////////////////////////////////////////////////////
 
// FIXME: for turbofans, the upper limit should be reduced from 1000
// to 800 ft if a sudden change in radio altitude is detected, in
// order to reduce nuisance alerts caused by overflying another
// aircraft (see [PILOT] page 16).
 
double
MK_VIII::Mode4Handler::get_upper_agl (const EnvelopesConfiguration *c)
{
    if (mk_ainput(computed_airspeed).get() >= c->airspeed2)
        return c->min_agl3;
    else if (mk_ainput(computed_airspeed).get() >= c->airspeed1)
        return c->min_agl2(mk_ainput(computed_airspeed).get());
    else
        return c->min_agl1;
}
 
const MK_VIII::Mode4Handler::EnvelopesConfiguration *
MK_VIII::Mode4Handler::get_ab_envelope ()
{
    // [SPEC] 6.2.4.1: "The Mode 4B envelope can also be selected by
    // setting flaps to landing configuration or by selecting flap
    // override."
    return mk_dinput(landing_gear) || mk->io_handler.flaps_down()
        ? conf.modes->b
        : conf.modes->ac;
}
 
double
MK_VIII::Mode4Handler::get_bias (double initial_bias, double min_agl)
{
    // do not repeat terrain/gear/flap alerts below 30ft agl
    if (mk_data(radio_altitude).get() > 30.0)
    {
        if (initial_bias < 0.0) // sanity check
            initial_bias = 0.0;
        while ((mk_data(radio_altitude).get() < min_agl - min_agl * initial_bias)&&
               (initial_bias < 1.0))
            initial_bias += 0.2;
    }
 
    return initial_bias;
}
 
void
MK_VIII::Mode4Handler::handle_alert (unsigned int alert,
                     double min_agl,
                     double *bias)
{
    if (mk_test_alerts(alert))
    {
        double new_bias = get_bias(*bias, min_agl);
        if (new_bias > *bias)
        {
            *bias = new_bias;
            mk_repeat_alert(alert);
        }
    }
    else
    {
        *bias = get_bias(0.2, min_agl);
        mk_set_alerts(alert);
    }
}
 
void
MK_VIII::Mode4Handler::update_ab ()
{
    if (! mk->io_handler.gpws_inhibit()
     && ! mk->state_handler.ground
     && ! mk->state_handler.takeoff
     && ! mk_data(radio_altitude).ncd
     && ! mk_ainput(computed_airspeed).ncd
     && mk_data(radio_altitude).get() > 30)
    {
        const EnvelopesConfiguration *c = get_ab_envelope();
        if (mk_ainput(computed_airspeed).get() < c->airspeed1)
        {
            if (mk_dinput(landing_gear))
            {
                if (! mk->io_handler.flaps_down() && mk_data(radio_altitude).get() < c->min_agl1)
                {
                    handle_alert(mk_alert(MODE4_TOO_LOW_FLAPS), c->min_agl1, &ab_bias);
                    return;
                }
            }
            else
            {
                if (mk_data(radio_altitude).get() < c->min_agl1)
                {
                    handle_alert(mk_alert(MODE4_TOO_LOW_GEAR), c->min_agl1, &ab_bias);
                    return;
                }
            }
        }
    }
 
    mk_unset_alerts(mk_alert(MODE4_TOO_LOW_FLAPS) | mk_alert(MODE4_TOO_LOW_GEAR));
    ab_bias=0.0;
}
 
void
MK_VIII::Mode4Handler::update_ab_expanded ()
{
    if (! mk->io_handler.gpws_inhibit()
     && ! mk->state_handler.ground
     && ! mk->state_handler.takeoff
     && ! mk_data(radio_altitude).ncd
     && ! mk_ainput(computed_airspeed).ncd
     && mk_data(radio_altitude).get() > 30)
    {
        const EnvelopesConfiguration *c = get_ab_envelope();
        if (mk_ainput(computed_airspeed).get() >= c->airspeed1)
        {
            double min_agl = get_upper_agl(c);
            if (mk_data(radio_altitude).get() < min_agl)
            {
                handle_alert(mk_alert(MODE4AB_TOO_LOW_TERRAIN), min_agl, &ab_expanded_bias);
                return;
            }
        }
    }
 
    mk_unset_alerts(mk_alert(MODE4AB_TOO_LOW_TERRAIN));
    ab_expanded_bias=0.0;
}
 
void
MK_VIII::Mode4Handler::update_c ()
{
    if (! mk->io_handler.gpws_inhibit()
     && ! mk->state_handler.ground // [1]
     && mk->state_handler.takeoff
     && ! mk_data(radio_altitude).ncd
     && ! mk_data(terrain_clearance).ncd
     && mk_data(radio_altitude).get() > 30
     && (! mk_dinput(landing_gear) || ! mk->io_handler.flaps_down())
     && mk_data(radio_altitude).get() < get_upper_agl(conf.modes->ac)
     && mk_data(radio_altitude).get() < mk_data(terrain_clearance).get())
    {
        handle_alert(mk_alert(MODE4C_TOO_LOW_TERRAIN), mk_data(terrain_clearance).get(), &c_bias);
    }
    else
    {
        mk_unset_alerts(mk_alert(MODE4C_TOO_LOW_TERRAIN));
        c_bias = 0.0;
    }
}
 
void
MK_VIII::Mode4Handler::update ()
{
    if (mk->configuration_module.state != ConfigurationModule::STATE_OK)
        return;
 
    update_ab();
    update_ab_expanded();
    update_c();
}

// Mode5Handler ///////////////////////////////////////////////////////////////
 
bool
MK_VIII::Mode5Handler::is_hard ()
{
    if (mk_data(radio_altitude).get() > 30
      && mk_data(radio_altitude).get() < 300
      && mk_data(glideslope_deviation_dots).get() > 2)
    {
        if (mk_data(radio_altitude).get() < 150)
        {
            if (mk_data(radio_altitude).get() > 293 - 71.43 * mk_data(glideslope_deviation_dots).get())
                return true;
        }
        else
            return true;
    }
 
    return false;
}
 
bool
MK_VIII::Mode5Handler::is_soft (double bias)
{
    // do not repeat glide-slope alerts below 30ft agl
    if (mk_data(radio_altitude).get() > 30)
    {
        double bias_dots = 1.3 * bias;
        if (mk_data(glideslope_deviation_dots).get() > 1.3 + bias_dots)
        {
            if (mk_data(radio_altitude).get() < 150)
            {
                if (mk_data(radio_altitude).get() > 243 - 71.43 * (mk_data(glideslope_deviation_dots).get() - bias_dots))
                    return true;
            }
            else
            {
                double upper_limit;
 
                if (mk_data(barometric_altitude_rate).ncd)
                    upper_limit = 1000;
                else
                {
                    if (mk_data(barometric_altitude_rate).get() >= 0)
                        upper_limit = 500;
                    else if (mk_data(barometric_altitude_rate).get() < -500)
                        upper_limit = 1000;
                    else
                        upper_limit = -mk_data(barometric_altitude_rate).get() + 500;
                }
 
                if (mk_data(radio_altitude).get() < upper_limit)
                    return true;
            }
        }
    }
 
    return false;
}
 
double
MK_VIII::Mode5Handler::get_soft_bias (double initial_bias)
{
    if (initial_bias < 0.0) // sanity check
        initial_bias = 0.0;
 
    while ((is_soft(initial_bias))&&
           (initial_bias < 1.0))
    {
        initial_bias += 0.2;
    }
 
    return initial_bias;
}
 
void
MK_VIII::Mode5Handler::update_hard (bool is)
{
    if (is)
    {
        if (! mk_test_alert(MODE5_HARD))
        {
            if (hard_timer.start_or_elapsed() >= 0.8)
                mk_set_alerts(mk_alert(MODE5_HARD));
        }
    }
    else
    {
        hard_timer.stop();
        mk_unset_alerts(mk_alert(MODE5_HARD));
    }
}
 
void
MK_VIII::Mode5Handler::update_soft (bool is)
{
    if (is)
    {
        if (! mk_test_alert(MODE5_SOFT))
        {
            double new_bias = get_soft_bias(soft_bias);
            if (new_bias > soft_bias)
            {
                soft_bias = new_bias;
                mk_repeat_alert(mk_alert(MODE5_SOFT));
            }
        }
        else
        {
            if (soft_timer.start_or_elapsed() >= 0.8)
            {
                soft_bias = get_soft_bias(0.2);
                mk_set_alerts(mk_alert(MODE5_SOFT));
            }
        }
    }
    else
    {
        soft_timer.stop();
        mk_unset_alerts(mk_alert(MODE5_SOFT));
    }
}
 
void
MK_VIII::Mode5Handler::update ()
{
    if (mk->configuration_module.state != ConfigurationModule::STATE_OK)
        return;
 
    if (! mk->io_handler.gpws_inhibit()
     && ! mk->state_handler.ground // [1]
     && ! mk_dinput(glideslope_inhibit) // not on backcourse
     && ! mk_data(radio_altitude).ncd
     && ! mk_data(glideslope_deviation_dots).ncd
     && (! mk->io_handler.conf.localizer_enabled
     || mk_data(localizer_deviation_dots).ncd
     || mk_data(radio_altitude).get() < 500
     || fabs(mk_data(localizer_deviation_dots).get()) < 2)
     && (! mk->state_handler.takeoff || mk->io_handler.flaps_down())
     && mk_dinput(landing_gear)
     && ! mk_doutput(glideslope_cancel))
    {
        update_hard(is_hard());
        update_soft(is_soft(0));
    }
    else
    {
        update_hard(false);
        update_soft(false);
    }
}

// Mode6Handler ///////////////////////////////////////////////////////////////
 
// keep sorted in descending order
const int MK_VIII::Mode6Handler::altitude_callout_definitions[] =
    { 2500, 1000, 500, 400, 300, 200, 100, 50, 40, 30, 20, 10 };
 
void
MK_VIII::Mode6Handler::reset_minimums ()
{
    minimums_issued = false;
    minimums_above_100_issued = false;
}
 
void
MK_VIII::Mode6Handler::reset_altitude_callouts ()
{
    for (unsigned i = 0; i < n_altitude_callouts; i++)
        altitude_callouts_issued[i] = false;
    throttle_retarded = false;
}
 
bool
MK_VIII::Mode6Handler::is_playing_altitude_callout ()
{
    for (unsigned i = 0; i < n_altitude_callouts; i++)
    {
        if (mk->voice_player.voice == mk_altitude_voice(i)
          || mk->voice_player.next_voice == mk_altitude_voice(i))
            return true;
    }
    return false;
}
 
bool
MK_VIII::Mode6Handler::is_near_minimums (double callout)
{
    // [SPEC] 6.4.2
 
    if (! mk_data(decision_height).ncd)
    {
        double diff = callout - mk_data(decision_height).get();
 
        if (mk_data(radio_altitude).get() >= 200)
        {
            if (fabs(diff) <= 30)
                return true;
        }
        else
        {
            if (diff >= -3 && diff <= 6)
                return true;
        }
    }
 
    return false;
}
 
bool
MK_VIII::Mode6Handler::is_outside_band (double elevation, double callout)
{
    // [SPEC] 6.4.2
    return elevation < callout - (elevation > 150 ? 20 : 10);
}
 
bool
MK_VIII::Mode6Handler::inhibit_smart_500 ()
{
    // [SPEC] 6.4.3
 
    if (! mk_data(glideslope_deviation_dots).ncd
     && ! mk_dinput(glideslope_inhibit) // backcourse
     && ! mk_doutput(glideslope_cancel))
    {
        if (mk->io_handler.conf.localizer_enabled
         && ! mk_data(localizer_deviation_dots).ncd)
        {
            if (fabs(mk_data(localizer_deviation_dots).get()) <= 2)
                return true;
        }
        else
        {
            if (fabs(mk_data(glideslope_deviation_dots).get()) <= 2)
                return true;
        }
    }
 
  return false;
}
 
void
MK_VIII::Mode6Handler::boot ()
{
    if (mk->configuration_module.state != ConfigurationModule::STATE_OK)
        return;
 
    last_decision_height = mk_dinput(decision_height);
    last_radio_altitude.set(&mk_data(radio_altitude));
 
    // [SPEC] 6.4.2
    for (unsigned i = 0; i < n_altitude_callouts; i++)
        altitude_callouts_issued[i] = ! mk_data(radio_altitude).ncd
        && mk_data(radio_altitude).get() <= altitude_callout_definitions[i];
 
    // extrapolated from [SPEC] 6.4.2
    minimums_issued = mk_dinput(decision_height);
 
    if (conf.above_field_voice)
    {
        update_runway();
        get_altitude_above_field(&last_altitude_above_field);
        // extrapolated from [SPEC] 6.4.2
        above_field_issued = ! last_altitude_above_field.ncd
                && last_altitude_above_field.get() < 550;
    }
}
 
void
MK_VIII::Mode6Handler::power_off ()
{
    runway_timer.stop();
}
 
void
MK_VIII::Mode6Handler::enter_takeoff ()
{
    reset_altitude_callouts();    // [SPEC] 6.4.2
    reset_minimums();             // omitted by [SPEC]; common sense
}
 
void
MK_VIII::Mode6Handler::leave_takeoff ()
{
    reset_altitude_callouts();    // [SPEC] 6.0.2
    reset_minimums();             // [SPEC] 6.0.2
}
 
void
MK_VIII::Mode6Handler::set_volume (float volume)
{
    mk_voice(minimums_minimums)->set_volume(volume);
    mk_voice(five_hundred_above)->set_volume(volume);
    for (unsigned i = 0; i < n_altitude_callouts; i++)
        mk_altitude_voice(i)->set_volume(volume);
}
 
bool
MK_VIII::Mode6Handler::altitude_callouts_enabled ()
{
    if (conf.minimums_enabled || conf.smart_500_enabled || conf.above_field_voice)
        return true;
 
    return (conf.altitude_callouts_enabled != 0);
}
 
void
MK_VIII::Mode6Handler::update_minimums ()
{
    if (! mk->io_handler.gpws_inhibit()
      && (mk->voice_player.voice == mk_voice(minimums_minimums)
      || mk->voice_player.next_voice == mk_voice(minimums_minimums)))
    {
        goto end;
    }
 
    if (! mk->io_handler.gpws_inhibit()
     && ! mk->state_handler.ground // [1]
     && conf.minimums_enabled
     && ! minimums_issued
     && mk_dinput(landing_gear)
     && ! last_decision_height)
    {
        if (mk_dinput(decision_height))
        {
            minimums_issued = true;
 
            // If an altitude callout is playing, stop it now so that the
            // minimums callout can be played (note that proper connection
            // and synchronization of the radio-altitude ARINC 529 input,
            // decision-height discrete and decision-height ARINC 529 input
            // will prevent an altitude callout from being played near the
            // decision height).
 
            if (is_playing_altitude_callout())
                mk->voice_player.stop(VoicePlayer::STOP_NOW);
 
            mk_unset_alerts(mk_alert(MODE6_MINIMUMS_100));
            mk_set_alerts(mk_alert(MODE6_MINIMUMS));
        }
        else
        if (conf.minimums_above_100_enabled && (!minimums_above_100_issued) &&
            mk_dinput(decision_height_100))
        {
            minimums_above_100_issued = true;
 
            if (is_playing_altitude_callout())
                mk->voice_player.stop(VoicePlayer::STOP_NOW);
 
            mk_unset_alerts(mk_alert(MODE6_MINIMUMS));
            mk_set_alerts(mk_alert(MODE6_MINIMUMS_100));
        }
    }
    else
    {
        mk_unset_alerts(mk_alert(MODE6_MINIMUMS));
        mk_unset_alerts(mk_alert(MODE6_MINIMUMS_100));
    }
 
end:
    last_decision_height = mk_dinput(decision_height);
    last_decision_height_100 = mk_dinput(decision_height_100);
}
 
void
MK_VIII::Mode6Handler::update_altitude_callouts ()
{
    if (! mk->io_handler.gpws_inhibit() && is_playing_altitude_callout())
        goto end;
 
    if (! mk->io_handler.gpws_inhibit())
    {
        if (mk->mode6_handler.conf.retard_enabled &&
            (!throttle_retarded)&&
            (mk_data(radio_altitude).get() < 25))
        {
            if (mk_node(throttle)->getDoubleValue() > 0.05)
            {
                mk_repeat_alert(mk_alert(MODE6_RETARD));
                goto end;
            }
            // throttle was closed
            throttle_retarded = true;
        }
        mk_unset_alerts(mk_alert(MODE6_RETARD));
 
        if (! mk->state_handler.ground // [1]
            && ! mk_data(radio_altitude).ncd)
        {
            for (unsigned i = 0; i < n_altitude_callouts && mk_data(radio_altitude).get() <= altitude_callout_definitions[i]; i++)
            {
                if (((conf.altitude_callouts_enabled & (1<<i))
                    || (altitude_callout_definitions[i] == 500
                    && conf.smart_500_enabled))
                    && ! altitude_callouts_issued[i]
                    && (last_radio_altitude.ncd
                     || last_radio_altitude.get() > altitude_callout_definitions[i]))
                {
                    // lock out all callouts superior or equal to this one
                    for (unsigned j = 0; j <= i; j++)
                        altitude_callouts_issued[j] = true;
 
                    altitude_callouts_issued[i] = true;
                    if (! is_near_minimums(altitude_callout_definitions[i])
                        && ! is_outside_band(mk_data(radio_altitude).get(), altitude_callout_definitions[i])
                        && (! conf.smart_500_enabled
                            || altitude_callout_definitions[i] != 500
                            || ! inhibit_smart_500()))
                    {
                        mk->alert_handler.set_altitude_callout_alert(mk_altitude_voice(i));
                        goto end;
                    }
                }
            }
        }
    }
 
    mk_unset_alerts(mk_alert(MODE6_ALTITUDE_CALLOUT));
 
end:
    last_radio_altitude.set(&mk_data(radio_altitude));
}
 
bool
MK_VIII::Mode6Handler::test_runway (const FGRunway *_runway)
{
    if (_runway->lengthFt() < mk->conf.runway_database)
        return false;
 
    SGGeod pos(
            SGGeod::fromDeg(mk_data(gps_longitude).get(), mk_data(gps_latitude).get()));
 
    // get distance to threshold
    return SGGeodesy::distanceNm(pos, _runway->threshold()) <= 5;
}
 
bool
MK_VIII::Mode6Handler::test_airport (const FGAirport *airport)
{
    for (unsigned int r=0; r<airport->numRunways(); ++r)
    {
        FGRunway* rwy(airport->getRunwayByIndex(r));
 
        if (test_runway(rwy))
            return true;
    }
 
    return false;
}
 
bool MK_VIII::Mode6Handler::AirportFilter::passAirport(FGAirport* a) const
{
    bool ok = self->test_airport(a);
    return ok;
}
 
void
MK_VIII::Mode6Handler::update_runway ()
{
    if (mk_data(gps_latitude).ncd || mk_data(gps_longitude).ncd)
    {
        has_runway.unset();
        return;
    }
 
    // Search for the closest runway threshold in range 5
    // nm. Passing 30nm to
    // get_closest_airport() provides enough margin for large
    // airports, which may have a runway located far away from the
    // airport's reference point.
    AirportFilter filter(this);
    FGPositionedRef apt = FGPositioned::findClosest(
            SGGeod::fromDeg(mk_data(gps_longitude).get(), mk_data(gps_latitude).get()),
            30.0, &filter);
    if (apt)
    {
        runway.elevation = apt->elevation();
    }
 
    has_runway.set(apt != NULL);
}
 
void
MK_VIII::Mode6Handler::get_altitude_above_field (Parameter<double> *parameter)
{
    if (! has_runway.ncd && has_runway.get() && ! mk_data(geometric_altitude).ncd)
        parameter->set(mk_data(geometric_altitude).get() - runway.elevation);
    else
        parameter->unset();
}
 
void
MK_VIII::Mode6Handler::update_above_field_callout ()
{
    if (! conf.above_field_voice)
        return;
 
    // update_runway() has to iterate over the whole runway database
    // (which contains thousands of runways), so it would be unwise to
    // run it every frame. Run it every 3 seconds. Note that the first
    // iteration is run in boot().
    if (runway_timer.start_or_elapsed() >= 3)
    {
        update_runway();
        runway_timer.start();
    }
 
    Parameter<double> altitude_above_field;
    get_altitude_above_field(&altitude_above_field);
 
    if (! mk->io_handler.gpws_inhibit()
        && (mk->voice_player.voice == conf.above_field_voice
        || mk->voice_player.next_voice == conf.above_field_voice))
        goto end;
 
    // handle reset term
    if (above_field_issued)
    {
        if ((! has_runway.ncd && ! has_runway.get())
           || (! altitude_above_field.ncd && altitude_above_field.get() > 700))
            above_field_issued = false;
    }
 
    if (! mk->io_handler.gpws_inhibit()
     && ! mk->state_handler.ground // [1]
     && ! above_field_issued
     && ! altitude_above_field.ncd
     && altitude_above_field.get() < 550
     && (last_altitude_above_field.ncd
     || last_altitude_above_field.get() >= 550))
    {
        above_field_issued = true;
 
        if (! is_outside_band(altitude_above_field.get(), 500))
        {
            mk->alert_handler.set_altitude_callout_alert(conf.above_field_voice);
            goto end;
        }
    }
 
    mk_unset_alerts(mk_alert(MODE6_ALTITUDE_CALLOUT));
 
end:
    last_altitude_above_field.set(&altitude_above_field);
}
 
bool
MK_VIII::Mode6Handler::is_bank_angle (double abs_roll_angle, double bias)
{
    return conf.is_bank_angle(&mk_data(radio_altitude),
                              abs_roll_angle - abs_roll_angle * bias,
                              mk_dinput(autopilot_engaged));
}
 
bool
MK_VIII::Mode6Handler::is_high_bank_angle ()
{
    return mk_data(radio_altitude).ncd || mk_data(radio_altitude).get() >= 210;
}
 
unsigned int
MK_VIII::Mode6Handler::get_bank_angle_alerts ()
{
    if (! mk->io_handler.gpws_inhibit()
     && ! mk->state_handler.ground // [1]
     && ! mk_data(roll_angle).ncd)
    {
        double abs_roll_angle = fabs(mk_data(roll_angle).get());
 
        if (is_bank_angle(abs_roll_angle, 0.4))
            return is_high_bank_angle()
                    ? (mk_alert(MODE6_HIGH_BANK_ANGLE_1) | mk_alert(MODE6_HIGH_BANK_ANGLE_2) | mk_alert(MODE6_HIGH_BANK_ANGLE_3))
                    : (mk_alert(MODE6_LOW_BANK_ANGLE_1) | mk_alert(MODE6_LOW_BANK_ANGLE_2) | mk_alert(MODE6_LOW_BANK_ANGLE_3));
        else if (is_bank_angle(abs_roll_angle, 0.2))
            return is_high_bank_angle()
                    ? (mk_alert(MODE6_HIGH_BANK_ANGLE_1) | mk_alert(MODE6_HIGH_BANK_ANGLE_2))
                    : (mk_alert(MODE6_LOW_BANK_ANGLE_1) | mk_alert(MODE6_LOW_BANK_ANGLE_2));
        else if (is_bank_angle(abs_roll_angle, 0))
            return is_high_bank_angle()
                    ? mk_alert(MODE6_HIGH_BANK_ANGLE_1)
                    : mk_alert(MODE6_LOW_BANK_ANGLE_1);
    }
 
    return 0;
}
 
void
MK_VIII::Mode6Handler::update_bank_angle ()
{
    if (! conf.bank_angle_enabled)
        return;
 
    unsigned int alerts = get_bank_angle_alerts();
 
    // [SPEC] 6.4.4 specifies that the non-continuous alerts
    // (MODE6_*_BANK_ANGLE_1 and MODE6_*_BANK_ANGLE_2) are locked out
    // until the initial envelope is exited.
 
    if (! test_bits(alerts, mk_alert(MODE6_LOW_BANK_ANGLE_3)))
        mk_unset_alerts(mk_alert(MODE6_LOW_BANK_ANGLE_3));
    if (! test_bits(alerts, mk_alert(MODE6_HIGH_BANK_ANGLE_3)))
        mk_unset_alerts(mk_alert(MODE6_HIGH_BANK_ANGLE_3));
 
    if (alerts != 0)
        mk_set_alerts(alerts);
    else
        mk_unset_alerts(mk_alert(MODE6_LOW_BANK_ANGLE_1)
                      | mk_alert(MODE6_HIGH_BANK_ANGLE_1)
                      | mk_alert(MODE6_LOW_BANK_ANGLE_2)
                      | mk_alert(MODE6_HIGH_BANK_ANGLE_2));
}
 
void
MK_VIII::Mode6Handler::update ()
{
    if (mk->configuration_module.state != ConfigurationModule::STATE_OK)
        return;
 
    if (! mk->state_handler.takeoff
     && ! mk_data(radio_altitude).ncd
     && mk_data(radio_altitude).get() > 1000)
    {
        reset_altitude_callouts();  // [SPEC] 6.4.2
        reset_minimums();           // common sense
    }
 
    update_minimums();
    update_altitude_callouts();
    update_above_field_callout();
    update_bank_angle();
}

// TCFHandler /////////////////////////////////////////////////////////////////
 
bool MK_VIII::TCFHandler::AirportFilter::passAirport(FGAirport* aApt) const
{
    return aApt->hasHardRunwayOfLengthFt(mk->conf.runway_database);
}
 
void
MK_VIII::TCFHandler::update_runway ()
{
    has_runway = false;
    if (mk_data(gps_latitude).ncd || mk_data(gps_longitude).ncd)
    {
        return;
    }
 
    // Search for the intended destination runway of the closest
    // airport in range 15 nm. Passing 30nm to get_closest_airport()
    // provides enough margin for
    // large airports, which may have a runway located far away from
    // the airport's reference point.
    AirportFilter filter(mk);
    SGGeod apos = SGGeod::fromDeg(mk_data(gps_longitude).get(), mk_data(gps_latitude).get());
    FGAirport* apt = FGAirport::findClosest(apos, 30.0, &filter);
    if (!apt)
    {
        return;
    }
 
    FGRunway* _runway = apt->findBestRunwayForPos(apos).get();
    if (!_runway)
    {
        return;
    }
 
    has_runway = true;
 
    runway.center = _runway->pointOnCenterline(_runway->lengthM() * 0.5);
 
    runway.elevation = apt->elevation();
 
    runway.half_width_m = _runway->widthM() * 0.5;
    double half_length_m = _runway->lengthM() * 0.5;
    runway.half_length = half_length_m * SG_METER_TO_NM;
 
    // _________
    //          |
    //  <<<<e0  | <<<h0
    // _________|
 
    // get heading of runway end (h0)
    runway.edge.heading = _runway->headingDeg();
 
    // get position of runway threshold (e0)
    runway.edge.position = _runway->begin();
 
    // get cartesian coordinates of both runway ends
    runway.bias_points[0] = _runway->cart();
    runway.bias_points[1] = _runway->reciprocalRunway()->cart();
}
 
// Returns true if the current GPS position is inside the edge
// triangle of @edge. The edge triangle, which is specified and
// represented in [SPEC] 6.3.1, is defined as an isocele right
// triangle of infinite height, whose right angle is located at the
// position of @edge, and whose height is parallel to the heading of
// @edge.
bool
MK_VIII::TCFHandler::is_inside_edge_triangle (RunwayEdge *edge)
{
    double az = SGGeodesy::courseDeg( SGGeod::fromDeg(mk_data(gps_longitude).get(),
                                                      mk_data(gps_latitude).get()),
                                      edge->position);
    return get_heading_difference(az, edge->heading) <= 45;
}
 
// Returns true if the current GPS position is inside the bias area of
// the currently selected runway.
bool
MK_VIII::TCFHandler::is_inside_bias_area ()
{
    double half_bias_width_m = k * SG_NM_TO_METER + runway.half_width_m;
    SGVec3d cpos = SGVec3d::fromGeod(  SGGeod::fromDegFt(mk_data(gps_longitude).get(),
                                                         mk_data(gps_latitude).get(),
                                                         runway.elevation) );
    SGLineSegmentd bias_line = SGLineSegmentd(runway.bias_points[0], runway.bias_points[1]);
    return dist(cpos, bias_line) < half_bias_width_m;
}
 
bool
MK_VIII::TCFHandler::is_tcf ()
{
    if (mk_data(radio_altitude).get() > 10)
    {
        if (has_runway)
        {
            double distance = SGGeodesy::distanceNm( SGGeod::fromDegFt(mk_data(gps_longitude).get(),
                                                                       mk_data(gps_latitude).get(),
                                                                       runway.elevation),
                                                     runway.center);
 
            // distance to the inner envelope edge
            double edge_distance = distance - runway.half_length - k;
 
            if (edge_distance > 15)
            {
                if (mk_data(radio_altitude).get() < 700)
                    return true;
            }
            else
            if (edge_distance > 12)
            {
                if (mk_data(radio_altitude).get() < 100 * edge_distance - 800)
                    return true;
            }
            else
            if (edge_distance > 4)
            {
                if (mk_data(radio_altitude).get() < 400)
                    return true;
            }
            else
            if (edge_distance > 2.45)
            {
                if (mk_data(radio_altitude).get() < 100 * edge_distance)
                    return true;
            }
            else
            if ( is_inside_edge_triangle(&runway.edge) && (edge_distance > 0.01) )
            {
                if (mk_data(radio_altitude).get() < 100 * edge_distance)
                    return true;
            }
            else
            if (! is_inside_bias_area())
            {
                if (mk_data(radio_altitude).get() < 245)
                    return true;
            }
        }
        else
        if (mk_data(radio_altitude).get() < 700)
        {
            return true;
        }
    }
    return false;
}
 
bool
MK_VIII::TCFHandler::is_rfcf ()
{
    if (has_runway)
    {
        double distance = SGGeodesy::distanceNm( SGGeod::fromDegFt(mk_data(gps_longitude).get(),
                                                                   mk_data(gps_latitude).get(),
                                                                   runway.elevation),
                                                runway.center);
        distance -= runway.half_length;
 
        if (distance < 5.0)
        {
            double krf = k + mk_data(gps_vertical_figure_of_merit).get() / 200;
            distance -= krf;
            double altitude_above_field = mk_data(geometric_altitude).get() - runway.elevation;
 
            if ( (distance > 1.5) && (altitude_above_field < 300.0) )
                return true;
            else if ( (distance > 0.0) && (altitude_above_field < 200 * distance) )
                return true;
        }
    }
 
    return false;
}
 
void
MK_VIII::TCFHandler::update ()
{
    if (mk->configuration_module.state != ConfigurationModule::STATE_OK || ! conf.enabled)
        return;
 
    // update_runway() has to iterate over the whole runway database
    // (which contains thousands of runways), so it would be unwise to
    // run it every frame. Run it every 3 seconds.
    if (! runway_timer.running || runway_timer.elapsed() >= 3)
    {
        update_runway();
        runway_timer.start();
    }
 
    if (! mk_dinput(ta_tcf_inhibit)
     && ! mk->state_handler.ground // [1]
     && ! mk_data(gps_latitude).ncd
     && ! mk_data(gps_longitude).ncd
     && ! mk_data(radio_altitude).ncd
     && ! mk_data(geometric_altitude).ncd
     && ! mk_data(gps_vertical_figure_of_merit).ncd)
    {
        double *_reference;
 
        if (is_tcf())
            _reference = mk_data(radio_altitude).get_pointer();
        else if (is_rfcf())
            _reference = mk_data(geometric_altitude).get_pointer();
        else
            _reference = NULL;
 
        if (_reference)
        {
            if (mk_test_alert(TCF_TOO_LOW_TERRAIN))
            {
                double new_bias = bias;
                // do not repeat terrain alerts below 30ft agl
                if (mk_data(radio_altitude).get() > 30)
                {
                    if (new_bias < 0.0) // sanity check
                        new_bias = 0.0;
                    while ((*reference < initial_value - initial_value * new_bias)&&
                           (new_bias < 1.0))
                    {
                        new_bias += 0.2;
                    }
                }
 
                if (new_bias > bias)
                {
                    bias = new_bias;
                    mk_repeat_alert(mk_alert(TCF_TOO_LOW_TERRAIN));
                }
            }
            else
            {
                bias = 0.2;
                reference = _reference;
                initial_value = *reference;
                mk_set_alerts(mk_alert(TCF_TOO_LOW_TERRAIN));
            }
 
            return;
        }
    }
 
    mk_unset_alerts(mk_alert(TCF_TOO_LOW_TERRAIN));
}

// MK_VIII ////////////////////////////////////////////////////////////////////
 
MK_VIII::MK_VIII (SGPropertyNode *node)
  : properties_handler(this),
    name("mk-viii"),
    num(0),
    power_handler(this),
    system_handler(this),
    configuration_module(this),
    fault_handler(this),
    io_handler(this),
    voice_player(this),
    self_test_handler(this),
    alert_handler(this),
    state_handler(this),
    mode1_handler(this),
    mode2_handler(this),
    mode3_handler(this),
    mode4_handler(this),
    mode5_handler(this),
    mode6_handler(this),
    tcf_handler(this)
{
    for (int i = 0; i < node->nChildren(); ++i)
    {
        SGPropertyNode *child = node->getChild(i);
        string cname = child->getNameString();
        string cval = child->getStringValue();
 
        if (cname == "name")
            name = cval;
        else if (cname == "number")
            num = child->getIntValue();
        else
        {
            SG_LOG(SG_INSTR, SG_WARN, "Error in mk-viii config logic");
            if (name.length())
                SG_LOG(SG_INSTR, SG_WARN, "Section = " << name);
        }
    }
}
 
void
MK_VIII::init ()
{
    properties_handler.init();
    voice_player.init();
}
 
void
MK_VIII::bind ()
{
    SGPropertyNode *node = fgGetNode(("/instrumentation/" + name), num, true);
 
    configuration_module.bind(node);
    power_handler.bind(node);
    io_handler.bind(node);
    voice_player.bind(node, "Sounds/mk-viii/");
}
 
void
MK_VIII::unbind ()
{
    properties_handler.unbind();
}
 
void
MK_VIII::update (double dt)
{
    power_handler.update();
    system_handler.update();
 
    if (system_handler.state != SystemHandler::STATE_ON)
        return;
 
    io_handler.update_inputs();
    io_handler.update_input_faults();
 
    voice_player.update();
    state_handler.update();
 
    if (self_test_handler.update())
        return;
 
    io_handler.update_internal_latches();
    io_handler.update_lamps();
 
    mode1_handler.update();
    mode2_handler.update();
    mode3_handler.update();
    mode4_handler.update();
    mode5_handler.update();
    mode6_handler.update();
    tcf_handler.update();
 
    alert_handler.update();
    io_handler.update_outputs();
}
 
 
// Register the subsystem.
#if 0
SGSubsystemMgr::InstancedRegistrant<MK_VIII> registrantMK_VIII(
    SGSubsystemMgr::FDM,
    {{"instrumentation", SGSubsystemMgr::Dependency::HARD}},
    0.2);
#endif