1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 Module: FGAccelerometer.cpp
5 Date started: 9 July 2005
7 ------------- Copyright (C) 2005 -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU Lesser General Public License as published by the Free Software
11 Foundation; either version 2 of the License, or (at your option) any later
14 This program is distributed in the hope that it will be useful, but WITHOUT
15 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
19 You should have received a copy of the GNU Lesser General Public License along with
20 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 Place - Suite 330, Boston, MA 02111-1307, USA.
23 Further information about the GNU Lesser General Public License can also be found on
24 the world wide web at http://www.gnu.org.
26 FUNCTIONAL DESCRIPTION
27 --------------------------------------------------------------------------------
30 --------------------------------------------------------------------------------
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
33 COMMENTS, REFERENCES, and NOTES
34 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
43 #include "FGAccelerometer.h"
44 #include "models/FGPropagate.h"
45 #include "models/FGAccelerations.h"
46 #include "models/FGMassBalance.h"
47 #include "models/FGInertial.h"
48 #include "input_output/FGXMLElement.h"
54 static const char *IdSrc = "$Id: FGAccelerometer.cpp,v 1.12 2013/11/24 11:40:56 bcoconni Exp $";
55 static const char *IdHdr = ID_ACCELEROMETER;
57 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
59 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
61 FGAccelerometer::FGAccelerometer(FGFCS* fcs, Element* element)
62 : FGSensor(fcs, element),
63 FGSensorOrientation(element)
65 Propagate = fcs->GetExec()->GetPropagate();
66 Accelerations = fcs->GetExec()->GetAccelerations();
67 MassBalance = fcs->GetExec()->GetMassBalance();
68 Inertial = fcs->GetExec()->GetInertial();
70 Element* location_element = element->FindElement("location");
71 if (location_element) vLocation = location_element->FindElementTripletConvertTo("IN");
72 else {cerr << "No location given for accelerometer. " << endl; exit(-1);}
74 vRadius = MassBalance->StructuralToBody(vLocation);
79 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
81 FGAccelerometer::~FGAccelerometer()
86 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
88 bool FGAccelerometer::Run(void )
90 // There is no input assumed. This is a dedicated acceleration sensor.
92 vRadius = MassBalance->StructuralToBody(vLocation);
95 vAccel = (Accelerations->GetBodyAccel()
96 + Propagate->GetTi2b() * Accelerations->GetGravAccel()
97 + Accelerations->GetPQRdot() * vRadius
98 + Propagate->GetPQR() * (Propagate->GetPQR() * vRadius));
100 // transform to the specified orientation
101 vAccel = mT * vAccel;
103 Input = vAccel(axis);
105 ProcessSensorSignal();
107 if (IsOutput) SetOutput();
112 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
113 // The bitmasked value choices are as follows:
114 // unset: In this case (the default) JSBSim would only print
115 // out the normally expected messages, essentially echoing
116 // the config files as they are read. If the environment
117 // variable is not set, debug_lvl is set to 1 internally
118 // 0: This requests JSBSim not to output any messages
120 // 1: This value explicity requests the normal JSBSim
122 // 2: This value asks for a message to be printed out when
123 // a class is instantiated
124 // 4: When this value is set, a message is displayed when a
125 // FGModel object executes its Run() method
126 // 8: When this value is set, various runtime state variables
127 // are printed out periodically
128 // 16: When set various parameters are sanity checked and
129 // a message is printed out when they go out of bounds
131 void FGAccelerometer::Debug(int from)
133 string ax[4] = {"none", "X", "Y", "Z"};
135 if (debug_lvl <= 0) return;
137 if (debug_lvl & 1) { // Standard console startup message output
138 if (from == 0) { // Constructor
139 cout << " Axis: " << ax[axis] << endl;
142 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
143 if (from == 0) cout << "Instantiated: FGAccelerometer" << endl;
144 if (from == 1) cout << "Destroyed: FGAccelerometer" << endl;
146 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
148 if (debug_lvl & 8 ) { // Runtime state variables
150 if (debug_lvl & 16) { // Sanity checking
152 if (debug_lvl & 64) {
153 if (from == 0) { // Constructor
154 cout << IdSrc << endl;
155 cout << IdHdr << endl;