1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
5 Date started: 29 August 2009
7 ------------- Copyright (C) 2009 -------------
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 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
43 #include "models/FGAccelerations.h"
49 static const char *IdSrc = "$Id: FGGyro.cpp,v 1.6 2011/07/17 13:51:23 jberndt Exp $";
50 static const char *IdHdr = ID_GYRO;
52 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
56 FGGyro::FGGyro(FGFCS* fcs, Element* element) : FGSensor(fcs, element),
57 FGSensorOrientation(element)
59 Accelerations = fcs->GetExec()->GetAccelerations();
64 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
71 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
73 bool FGGyro::Run(void )
75 // There is no input assumed. This is a dedicated angular acceleration sensor.
78 vAccel = mT * Accelerations->GetPQRdot();
82 ProcessSensorSignal();
87 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
88 // The bitmasked value choices are as follows:
89 // unset: In this case (the default) JSBSim would only print
90 // out the normally expected messages, essentially echoing
91 // the config files as they are read. If the environment
92 // variable is not set, debug_lvl is set to 1 internally
93 // 0: This requests JSBSim not to output any messages
95 // 1: This value explicity requests the normal JSBSim
97 // 2: This value asks for a message to be printed out when
98 // a class is instantiated
99 // 4: When this value is set, a message is displayed when a
100 // FGModel object executes its Run() method
101 // 8: When this value is set, various runtime state variables
102 // are printed out periodically
103 // 16: When set various parameters are sanity checked and
104 // a message is printed out when they go out of bounds
106 void FGGyro::Debug(int from)
108 string ax[4] = {"none", "X", "Y", "Z"};
110 if (debug_lvl <= 0) return;
112 if (debug_lvl & 1) { // Standard console startup message output
113 if (from == 0) { // Constructor
114 cout << " Axis: " << ax[axis] << endl;
117 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
118 if (from == 0) cout << "Instantiated: FGGyro" << endl;
119 if (from == 1) cout << "Destroyed: FGGyro" << endl;
121 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
123 if (debug_lvl & 8 ) { // Runtime state variables
125 if (debug_lvl & 16) { // Sanity checking
127 if (debug_lvl & 64) {
128 if (from == 0) { // Constructor
129 cout << IdSrc << endl;
130 cout << IdHdr << endl;