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 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
40 #include "FGAccelerometer.h"
44 static const char *IdSrc = "$Id$";
45 static const char *IdHdr = ID_ACCELEROMETER;
47 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
49 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
51 FGAccelerometer::FGAccelerometer(FGFCS* fcs, Element* element)
52 : FGSensor(fcs, element),
53 FGSensorOrientation(element)
55 Propagate = fcs->GetExec()->GetPropagate();
56 MassBalance = fcs->GetExec()->GetMassBalance();
57 Inertial = fcs->GetExec()->GetInertial();
59 Element* location_element = element->FindElement("location");
60 if (location_element) vLocation = location_element->FindElementTripletConvertTo("IN");
61 else {cerr << "No location given for accelerometer. " << endl; exit(-1);}
63 vRadius = MassBalance->StructuralToBody(vLocation);
68 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
70 FGAccelerometer::~FGAccelerometer()
75 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
77 bool FGAccelerometer::Run(void )
79 // There is no input assumed. This is a dedicated acceleration sensor.
81 vRadius = MassBalance->StructuralToBody(vLocation);
83 //gravitational forces
84 vAccel = Propagate->GetTl2b() * FGColumnVector3(0, 0, Inertial->gravity());
87 vAccel += (Propagate->GetUVWdot()
88 + Propagate->GetPQRdot() * vRadius
89 + Propagate->GetPQR() * (Propagate->GetPQR() * vRadius));
91 // transform to the specified orientation
96 ProcessSensorSignal();
101 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
102 // The bitmasked value choices are as follows:
103 // unset: In this case (the default) JSBSim would only print
104 // out the normally expected messages, essentially echoing
105 // the config files as they are read. If the environment
106 // variable is not set, debug_lvl is set to 1 internally
107 // 0: This requests JSBSim not to output any messages
109 // 1: This value explicity requests the normal JSBSim
111 // 2: This value asks for a message to be printed out when
112 // a class is instantiated
113 // 4: When this value is set, a message is displayed when a
114 // FGModel object executes its Run() method
115 // 8: When this value is set, various runtime state variables
116 // are printed out periodically
117 // 16: When set various parameters are sanity checked and
118 // a message is printed out when they go out of bounds
120 void FGAccelerometer::Debug(int from)
122 string ax[4] = {"none", "X", "Y", "Z"};
124 if (debug_lvl <= 0) return;
126 if (debug_lvl & 1) { // Standard console startup message output
127 if (from == 0) { // Constructor
128 cout << " Axis: " << ax[axis] << endl;
131 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
132 if (from == 0) cout << "Instantiated: FGAccelerometer" << endl;
133 if (from == 1) cout << "Destroyed: FGAccelerometer" << endl;
135 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
137 if (debug_lvl & 8 ) { // Runtime state variables
139 if (debug_lvl & 16) { // Sanity checking
141 if (debug_lvl & 64) {
142 if (from == 0) { // Constructor
143 cout << IdSrc << endl;
144 cout << IdHdr << endl;