]> git.mxchange.org Git - flightgear.git/blob - src/FDM/JSBSim/models/flight_control/FGGyro.cpp
Merge branch 'next' of gitorious.org:fg/flightgear into next
[flightgear.git] / src / FDM / JSBSim / models / flight_control / FGGyro.cpp
1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2
3  Module:       FGGyro.cpp
4  Author:       Jon Berndt
5  Date started: 29 August 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 FUNCTIONAL DESCRIPTION
27 --------------------------------------------------------------------------------
28
29 HISTORY
30 --------------------------------------------------------------------------------
31
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
33 COMMENTS, REFERENCES,  and NOTES
34 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
35
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
37 INCLUDES
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
39
40 #include "FGGyro.h"
41 #include <iostream>
42
43 using namespace std;
44
45 namespace JSBSim {
46
47 static const char *IdSrc = "$Id: FGGyro.cpp,v 1.5 2009/10/24 22:59:30 jberndt Exp $";
48 static const char *IdHdr = ID_GYRO;
49
50 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
51 CLASS IMPLEMENTATION
52 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
53
54 FGGyro::FGGyro(FGFCS* fcs, Element* element) : FGSensor(fcs, element),
55                                                FGSensorOrientation(element)
56 {
57   Propagate = fcs->GetExec()->GetPropagate();
58   
59   Debug(0);
60 }
61
62 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
63
64 FGGyro::~FGGyro()
65 {
66   Debug(1);
67 }
68
69 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
70
71 bool FGGyro::Run(void )
72 {
73   // There is no input assumed. This is a dedicated angular acceleration sensor.
74   
75   //aircraft rates
76   vAccel = mT * Propagate->GetPQRdot();
77
78   Input = vAccel(axis);
79
80   ProcessSensorSignal();
81
82   return true;
83 }
84
85 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
86 //    The bitmasked value choices are as follows:
87 //    unset: In this case (the default) JSBSim would only print
88 //       out the normally expected messages, essentially echoing
89 //       the config files as they are read. If the environment
90 //       variable is not set, debug_lvl is set to 1 internally
91 //    0: This requests JSBSim not to output any messages
92 //       whatsoever.
93 //    1: This value explicity requests the normal JSBSim
94 //       startup messages
95 //    2: This value asks for a message to be printed out when
96 //       a class is instantiated
97 //    4: When this value is set, a message is displayed when a
98 //       FGModel object executes its Run() method
99 //    8: When this value is set, various runtime state variables
100 //       are printed out periodically
101 //    16: When set various parameters are sanity checked and
102 //       a message is printed out when they go out of bounds
103
104 void FGGyro::Debug(int from)
105 {
106   string ax[4] = {"none", "X", "Y", "Z"};
107
108   if (debug_lvl <= 0) return;
109
110   if (debug_lvl & 1) { // Standard console startup message output
111     if (from == 0) { // Constructor
112       cout << "        Axis: " << ax[axis] << endl;
113     }
114   }
115   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
116     if (from == 0) cout << "Instantiated: FGGyro" << endl;
117     if (from == 1) cout << "Destroyed:    FGGyro" << endl;
118   }
119   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
120   }
121   if (debug_lvl & 8 ) { // Runtime state variables
122   }
123   if (debug_lvl & 16) { // Sanity checking
124   }
125   if (debug_lvl & 64) {
126     if (from == 0) { // Constructor
127       cout << IdSrc << endl;
128       cout << IdHdr << endl;
129     }
130   }
131 }
132 }