src/FDM/JSBSim/models/flight_control/FGGyro.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGGyro.h
   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 HISTORY
  27 --------------------------------------------------------------------------------
  28
  29 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  30 SENTRY
  31 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  32
  33 #ifndef FGGYRO_H
  34 #define FGGYRO_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 "models/FGInertial.h"
  45 #include "math/FGColumnVector3.h"
  46 #include "math/FGMatrix33.h"
  47 #include "FGSensorOrientation.h"
  48
  49 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  50 DEFINITIONS
  51 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  52
  53 #define ID_GYRO "$Id: FGGyro.h,v 1.5 2009/12/11 06:03:06 jberndt Exp $"
  54
  55 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  56 FORWARD DECLARATIONS
  57 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  58
  59 namespace JSBSim {
  60
  61 class FGFCS;
  62
  63 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  64 CLASS DOCUMENTATION
  65 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  66
  67 /** Encapsulates a Gyro component for the flight control system.
  68
  69 Syntax:
  70
  71 @code
  72 <gyro name="name">
  73   <lag> number </lag>
  74   <noise variation="PERCENT|ABSOLUTE"> number </noise>
  75   <quantization name="name">
  76     <bits> number </bits>
  77     <min> number </min>
  78     <max> number </max>
  79   </quantization>
  80   <drift_rate> number </drift_rate>
  81   <bias> number </bias>
  82 </gyro>
  83 @endcode
  84
  85 Example:
  86
  87 @code
  88 <gyro name="aero/gyro/roll">
  89   <axis> X </axis>
  90   <lag> 0.5 </lag>
  91   <noise variation="PERCENT"> 2 </noise>
  92   <quantization name="aero/gyro/quantized/qbar">
  93     <bits> 12 </bits>
  94     <min> 0 </min>
  95     <max> 400 </max>
  96   </quantization>
  97   <bias> 0.5 </bias>
  98 </gyro>
  99 @endcode
 100
 101 For noise, if the type is PERCENT, then the value supplied is understood to be a
 102 percentage variance. That is, if the number given is 0.05, the the variance is
 103 understood to be +/-0.05 percent maximum variance. So, the actual value for the gyro
 104 will be *anywhere* from 0.95 to 1.05 of the actual "perfect" value at any time -
 105 even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the delta
 106 time.
 107
 108 @author Jon S. Berndt
 109 @version $Revision: 1.5 $
 110 */
 111
 112 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 113 CLASS DECLARATION
 114 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 115
 116 class FGGyro  : public FGSensor, public FGSensorOrientation
 117 {
 118 public:
 119   FGGyro(FGFCS* fcs, Element* element);
 120   ~FGGyro();
 121
 122   bool Run (void);
 123
 124 private:
 125   FGPropagate* Propagate;
 126   FGColumnVector3 vAccel;
 127   void CalculateTransformMatrix(void);
 128
 129   void Debug(int from);
 130 };
 131 }
 132 #endif