src/FDM/JSBSim/models/flight_control/FGAccelerometer.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGAccelerometer.h
   4  Author:       Jon Berndt
   5  Date started: May 2009
   6
   7  ------------- Copyright (C) 2009 -------------
   8
   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
  12  version.
  13
  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
  17  details.
  18
  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.
  22
  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.
  25
  26 HISTORY
  27 --------------------------------------------------------------------------------
  28
  29 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  30 SENTRY
  31 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  32
  33 #ifndef FGACCELEROMETER_H
  34 #define FGACCELEROMETER_H
  35
  36 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  37 INCLUDES
  38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  39
  40 #include "FGSensor.h"
  41 #include "input_output/FGXMLElement.h"
  42 #include "math/FGColumnVector3.h"
  43 #include "math/FGMatrix33.h"
  44 #include "FGSensorOrientation.h"
  45
  46 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  47 DEFINITIONS
  48 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  49
  50 #define ID_ACCELEROMETER "$Id: FGAccelerometer.h,v 1.6 2012/01/08 12:39:14 bcoconni Exp $"
  51
  52 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  53 FORWARD DECLARATIONS
  54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  55
  56 namespace JSBSim {
  57
  58 class FGFCS;
  59 class FGPropagate;
  60 class FGAccelerations;
  61 class FGInertial;
  62 class FGMassBalance;
  63
  64 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  65 CLASS DOCUMENTATION
  66 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  67
  68 /** Encapsulates a Accelerometer component for the flight control system.
  69
  70 Syntax:
  71
  72 @code
  73 <accelerometer name="name">
  74   <location unit="{IN | M}">
  75     <x> number </x>
  76     <y> number </y>
  77     <z> number </z>
  78   </location>
  79   <orientation unit="{RAD | DEG}">
  80     <pitch> {number} </pitch>
  81     <roll> {number} </roll>
  82     <yaw> {number} </yaw>
  83   </orientation>
  84   <axis> {X | Y | Z} </axis>
  85   <lag> number </lag>
  86   <noise variation="PERCENT|ABSOLUTE"> number </noise>
  87   <quantization name="name">
  88     <bits> number </bits>
  89     <min> number </min>
  90     <max> number </max>
  91   </quantization>
  92   <drift_rate> number </drift_rate>
  93   <gain> number </gain>
  94   <bias> number </bias>
  95 </accelerometer>
  96 @endcode
  97
  98 Example:
  99
 100 @code
 101 <accelerometer name="aero/accelerometer/right_tip_wing">
 102   <location unit="IN">
 103     <x> 43.2 </x>
 104     <y> 214. </y>
 105     <z> 59.4 </z>
 106   </location>
 107   <axis> Z </axis>
 108   <lag> 0.5 </lag>
 109   <noise variation="PERCENT"> 2 </noise>
 110   <quantization name="aero/accelerometer/quantized/right_tip_wing">
 111     <bits> 12 </bits>
 112     <min> 0 </min>
 113     <max> 400 </max>
 114   </quantization>
 115   <bias> 0.5 </bias>
 116 </accelerometer>
 117 @endcode
 118
 119 The only required element in the accelerometer definition is the input element. In that
 120 case, no degradation would be modeled, and the output would simply be the input.
 121
 122 For noise, if the type is PERCENT, then the value supplied is understood to be a
 123 percentage variance. That is, if the number given is 0.05, the the variance is
 124 understood to be +/-0.05 percent maximum variance. So, the actual value for the accelerometer
 125 will be *anywhere* from 0.95 to 1.05 of the actual "perfect" value at any time -
 126 even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the delta
 127 time.
 128
 129 @author Jon S. Berndt
 130 @version $Revision: 1.6 $
 131 */
 132
 133 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 134 CLASS DECLARATION
 135 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 136
 137 class FGAccelerometer  : public FGSensor, public FGSensorOrientation
 138 {
 139 public:
 140   FGAccelerometer(FGFCS* fcs, Element* element);
 141   ~FGAccelerometer();
 142
 143   bool Run (void);
 144
 145 private:
 146   FGPropagate* Propagate;
 147   FGAccelerations* Accelerations;
 148   FGMassBalance* MassBalance;
 149   FGInertial* Inertial;
 150   FGColumnVector3 vLocation;
 151   FGColumnVector3 vRadius;
 152   FGColumnVector3 vAccel;
 153
 154   void Debug(int from);
 155 };
 156 }
 157 #endif