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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