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
  42 namespace JSBSim {
  43
  44 static const char *IdSrc = "$Id$";
  45 static const char *IdHdr = ID_GYRO;
  46
  47 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  48 CLASS IMPLEMENTATION
  49 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  50
  51 FGGyro::FGGyro(FGFCS* fcs, Element* element) : FGSensor(fcs, element),
  52                                                FGSensorOrientation(element)
  53 {
  54   Propagate = fcs->GetExec()->GetPropagate();
  55
  56   Debug(0);
  57 }
  58
  59 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  60
  61 FGGyro::~FGGyro()
  62 {
  63   Debug(1);
  64 }
  65
  66 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  67
  68 bool FGGyro::Run(void )
  69 {
  70   // There is no input assumed. This is a dedicated angular acceleration sensor.
  71
  72   //aircraft rates
  73   vAccel = mT * Propagate->GetPQRdot();
  74
  75   Input = vAccel(axis);
  76
  77   ProcessSensorSignal();
  78
  79   return true;
  80 }
  81
  82 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  83 //    The bitmasked value choices are as follows:
  84 //    unset: In this case (the default) JSBSim would only print
  85 //       out the normally expected messages, essentially echoing
  86 //       the config files as they are read. If the environment
  87 //       variable is not set, debug_lvl is set to 1 internally
  88 //    0: This requests JSBSim not to output any messages
  89 //       whatsoever.
  90 //    1: This value explicity requests the normal JSBSim
  91 //       startup messages
  92 //    2: This value asks for a message to be printed out when
  93 //       a class is instantiated
  94 //    4: When this value is set, a message is displayed when a
  95 //       FGModel object executes its Run() method
  96 //    8: When this value is set, various runtime state variables
  97 //       are printed out periodically
  98 //    16: When set various parameters are sanity checked and
  99 //       a message is printed out when they go out of bounds
 100
 101 void FGGyro::Debug(int from)
 102 {
 103   string ax[4] = {"none", "X", "Y", "Z"};
 104
 105   if (debug_lvl <= 0) return;
 106
 107   if (debug_lvl & 1) { // Standard console startup message output
 108     if (from == 0) { // Constructor
 109       cout << "        Axis: " << ax[axis] << endl;
 110     }
 111   }
 112   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 113     if (from == 0) cout << "Instantiated: FGGyro" << endl;
 114     if (from == 1) cout << "Destroyed:    FGGyro" << endl;
 115   }
 116   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 117   }
 118   if (debug_lvl & 8 ) { // Runtime state variables
 119   }
 120   if (debug_lvl & 16) { // Sanity checking
 121   }
 122   if (debug_lvl & 64) {
 123     if (from == 0) { // Constructor
 124       cout << IdSrc << endl;
 125       cout << IdHdr << endl;
 126     }
 127   }
 128 }
 129 }