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