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 #include "models/FGPropagate.h"
45 #include "models/FGAccelerations.h"
46 #include "models/FGMassBalance.h"
47 #include "models/FGInertial.h"
53 static const char *IdSrc = "$Id: FGAccelerometer.cpp,v 1.9 2011/07/17 13:51:23 jberndt Exp $";
54 static const char *IdHdr = ID_ACCELEROMETER;
56 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
58 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
60 FGAccelerometer::FGAccelerometer(FGFCS* fcs, Element* element)
61 : FGSensor(fcs, element),
62 FGSensorOrientation(element)
64 Propagate = fcs->GetExec()->GetPropagate();
65 Accelerations = fcs->GetExec()->GetAccelerations();
66 MassBalance = fcs->GetExec()->GetMassBalance();
67 Inertial = fcs->GetExec()->GetInertial();
69 Element* location_element = element->FindElement("location");
70 if (location_element) vLocation = location_element->FindElementTripletConvertTo("IN");
71 else {cerr << "No location given for accelerometer. " << endl; exit(-1);}
73 vRadius = MassBalance->StructuralToBody(vLocation);
78 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
80 FGAccelerometer::~FGAccelerometer()
85 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
87 bool FGAccelerometer::Run(void )
89 // There is no input assumed. This is a dedicated acceleration sensor.
91 vRadius = MassBalance->StructuralToBody(vLocation);
93 //gravitational forces
94 vAccel = Propagate->GetTl2b() * FGColumnVector3(0, 0, Inertial->gravity());
97 vAccel += (Accelerations->GetUVWdot()
98 + Accelerations->GetPQRdot() * vRadius
99 + Propagate->GetPQR() * (Propagate->GetPQR() * vRadius));
101 // transform to the specified orientation
102 vAccel = mT * vAccel;
104 Input = vAccel(axis);
106 ProcessSensorSignal();
111 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
112 // The bitmasked value choices are as follows:
113 // unset: In this case (the default) JSBSim would only print
114 // out the normally expected messages, essentially echoing
115 // the config files as they are read. If the environment
116 // variable is not set, debug_lvl is set to 1 internally
117 // 0: This requests JSBSim not to output any messages
119 // 1: This value explicity requests the normal JSBSim
121 // 2: This value asks for a message to be printed out when
122 // a class is instantiated
123 // 4: When this value is set, a message is displayed when a
124 // FGModel object executes its Run() method
125 // 8: When this value is set, various runtime state variables
126 // are printed out periodically
127 // 16: When set various parameters are sanity checked and
128 // a message is printed out when they go out of bounds
130 void FGAccelerometer::Debug(int from)
132 string ax[4] = {"none", "X", "Y", "Z"};
134 if (debug_lvl <= 0) return;
136 if (debug_lvl & 1) { // Standard console startup message output
137 if (from == 0) { // Constructor
138 cout << " Axis: " << ax[axis] << endl;
141 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
142 if (from == 0) cout << "Instantiated: FGAccelerometer" << endl;
143 if (from == 1) cout << "Destroyed: FGAccelerometer" << endl;
145 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
147 if (debug_lvl & 8 ) { // Runtime state variables
149 if (debug_lvl & 16) { // Sanity checking
151 if (debug_lvl & 64) {
152 if (from == 0) { // Constructor
153 cout << IdSrc << endl;
154 cout << IdHdr << endl;