V-1.0.2-FormalATM-v2.6.2 (April-21-2019)

April 21, 2019

• Fixed bug in the method toIntervalSet of the class KinematicRealBands, where a range of length 0, i.e., a point, is sometimes added to the list of bands due to numerical round-off errors. This zero-length range may yield a recovery bands that is slightly larger than necessary.
• Fixed bug in the method find_resolution of the class KinematicRealBands, where a track resolution larger than 180 degrees is sometimes returned. The fixed method will return either negative infinity (left) or postive infinity (right) when no resolution exists within 180 of the current track.

V-1.0.1-FormalATM-v2.6.2 (October-11-2017)

October 11, 2017

• Fixed bug in line 635 and 637 of Units.cpp. This bug only affects
  MSVC++ (Thanks to Randal Guendel for reporting this issue).

March 18, 2017

• Added PVS specifications and proofs of core algorithms.

• Modified algorithm that projects aircraft trajectories. The
  core detection, alerting, and bands algorithms use an Euclidean
  three-dimensional coordinate system, i.e., a local East, North, Up
  (ENU) Cartesian coordinate system. This coordinate system is based on
  the orthogonal projection of the ownship and traffic geodesic
  coordinates onto a plane tangent to the projected ownship position on
  the surface of the earth. In previous releases, kinematic bands were
  generated by projecting in time aircraft Geodesic states and then
  projecting the resulting states into the Euclidean coordinate system.
  In this release, Geodesic coordinates are projected into the Euclidean
  coordinate system first, and then projected in time. This change
  significantly improves the performance of the bands algorithm.
  CAVEAT: Projected states may not be precise enough for a lookahead
  time larger than 5 minutes.

• Modified behavior of detection, alerting, and bands algorithms with
  respect to lookahead time. In the previous release, lookahead time was
  expected to be larger than early alerting time, which was expected to
  be larger than alerting time, for all alerting leves. In this release,
  the time horizon for the core algorithms is between current time and
  current time+lookahead time. In other words, no violation, alert, or band is
  computed after lookahead time (relative to current time).

• Modified algorithm that prints configuration parameters. In this
  release, units from a configuration file are remembered and displayed
  back when the configuration parameters are printed as a string or
  saved into a file. Furthermore, configuration parameters are printed
  in a better organized format.

• Fixed a bug that caused the region of a conflict band at 180 degrees
  to be incorrectly computed as NONE. The bug was due to numerical error
  where 180 degrees and -180 degrees were not considered to be equal.

V-1.0-FormalATM-v2.6.1 (Nov-18-2016)

• First non-alpha release of DAIDALUS. Parameters and thresholds have been configured according to DAA_MOPS_ToPMC_V3.8_2016-11-10.
• Used "almost equality" instead of equality in guidance computation to mitigate numerical issues at the limits of the well-clear volume.
• Provided interface to non-hazard volume, which is defined using VMOD instead of TCOA.
• Fixed directional resolution logic for track, which in some cases returned maneuvers that were more than 180 degrees in one direction.