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 "math/FGColumnVector3.h"
  42 #include "math/FGMatrix33.h"
  43 #include "FGSensorOrientation.h"
  44
  45 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  46 DEFINITIONS
  47 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  48
  49 #define ID_ACCELEROMETER "$Id: FGAccelerometer.h,v 1.7 2013/11/24 11:40:56 bcoconni Exp $"
  50
  51 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  52 FORWARD DECLARATIONS
  53 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  54
  55 namespace JSBSim {
  56
  57 class FGFCS;
  58 class FGPropagate;
  59 class FGAccelerations;
  60 class FGInertial;
  61 class FGMassBalance;
  62
  63 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  64 CLASS DOCUMENTATION
  65 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  66
  67 /** Encapsulates a Accelerometer component for the flight control system.
  68
  69 Syntax:
  70
  71 @code
  72 <accelerometer name="name">
  73   <location unit="{IN | M}">
  74     <x> number </x>
  75     <y> number </y>
  76     <z> number </z>
  77   </location>
  78   <orientation unit="{RAD | DEG}">
  79     <pitch> {number} </pitch>
  80     <roll> {number} </roll>
  81     <yaw> {number} </yaw>
  82   </orientation>
  83   <axis> {X | Y | Z} </axis>
  84   <lag> number </lag>
  85   <noise variation="PERCENT|ABSOLUTE"> number </noise>
  86   <quantization name="name">
  87     <bits> number </bits>
  88     <min> number </min>
  89     <max> number </max>
  90   </quantization>
  91   <drift_rate> number </drift_rate>
  92   <gain> number </gain>
  93   <bias> number </bias>
  94 </accelerometer>
  95 @endcode
  96
  97 Example:
  98
  99 @code
 100 <accelerometer name="aero/accelerometer/right_tip_wing">
 101   <location unit="IN">
 102     <x> 43.2 </x>
 103     <y> 214. </y>
 104     <z> 59.4 </z>
 105   </location>
 106   <axis> Z </axis>
 107   <lag> 0.5 </lag>
 108   <noise variation="PERCENT"> 2 </noise>
 109   <quantization name="aero/accelerometer/quantized/right_tip_wing">
 110     <bits> 12 </bits>
 111     <min> 0 </min>
 112     <max> 400 </max>
 113   </quantization>
 114   <bias> 0.5 </bias>
 115 </accelerometer>
 116 @endcode
 117
 118 The only required element in the accelerometer definition is the input element. In that
 119 case, no degradation would be modeled, and the output would simply be the input.
 120
 121 For noise, if the type is PERCENT, then the value supplied is understood to be a
 122 percentage variance. That is, if the number given is 0.05, the the variance is
 123 understood to be +/-0.05 percent maximum variance. So, the actual value for the accelerometer
 124 will be *anywhere* from 0.95 to 1.05 of the actual "perfect" value at any time -
 125 even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the delta
 126 time.
 127
 128 @author Jon S. Berndt
 129 @version $Revision: 1.7 $
 130 */
 131
 132 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 133 CLASS DECLARATION
 134 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 135
 136 class FGAccelerometer  : public FGSensor, public FGSensorOrientation
 137 {
 138 public:
 139   FGAccelerometer(FGFCS* fcs, Element* element);
 140   ~FGAccelerometer();
 141
 142   bool Run (void);
 143
 144 private:
 145   FGPropagate* Propagate;
 146   FGAccelerations* Accelerations;
 147   FGMassBalance* MassBalance;
 148   FGInertial* Inertial;
 149   FGColumnVector3 vLocation;
 150   FGColumnVector3 vRadius;
 151   FGColumnVector3 vAccel;
 152
 153   void Debug(int from);
 154 };
 155 }
 156 #endif