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 "math/FGColumnVector3.h"
  43 #include "math/FGMatrix33.h"
  44 #include "FGSensorOrientation.h"
  45
  46 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  47 DEFINITIONS
  48 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  49
  50 #define ID_GYRO "$Id: FGGyro.h,v 1.6 2011/07/17 13:51:23 jberndt Exp $"
  51
  52 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  53 FORWARD DECLARATIONS
  54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  55
  56 namespace JSBSim {
  57
  58 class FGFCS;
  59 class FGAccelerations;
  60
  61 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  62 CLASS DOCUMENTATION
  63 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  64
  65 /** Encapsulates a Gyro component for the flight control system.
  66
  67 Syntax:
  68
  69 @code
  70 <gyro name="name">
  71   <lag> number </lag>
  72   <noise variation="PERCENT|ABSOLUTE"> number </noise>
  73   <quantization name="name">
  74     <bits> number </bits>
  75     <min> number </min>
  76     <max> number </max>
  77   </quantization>
  78   <drift_rate> number </drift_rate>
  79   <bias> number </bias>
  80 </gyro>
  81 @endcode
  82
  83 Example:
  84
  85 @code
  86 <gyro name="aero/gyro/roll">
  87   <axis> X </axis>
  88   <lag> 0.5 </lag>
  89   <noise variation="PERCENT"> 2 </noise>
  90   <quantization name="aero/gyro/quantized/qbar">
  91     <bits> 12 </bits>
  92     <min> 0 </min>
  93     <max> 400 </max>
  94   </quantization>
  95   <bias> 0.5 </bias>
  96 </gyro>
  97 @endcode
  98
  99 For noise, if the type is PERCENT, then the value supplied is understood to be a
 100 percentage variance. That is, if the number given is 0.05, the the variance is
 101 understood to be +/-0.05 percent maximum variance. So, the actual value for the gyro
 102 will be *anywhere* from 0.95 to 1.05 of the actual "perfect" value at any time -
 103 even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the delta
 104 time.
 105
 106 @author Jon S. Berndt
 107 @version $Revision: 1.6 $
 108 */
 109
 110 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 111 CLASS DECLARATION
 112 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 113
 114 class FGGyro  : public FGSensor, public FGSensorOrientation
 115 {
 116 public:
 117   FGGyro(FGFCS* fcs, Element* element);
 118   ~FGGyro();
 119
 120   bool Run (void);
 121
 122 private:
 123   FGAccelerations* Accelerations;
 124   FGColumnVector3 vAccel;
 125   void CalculateTransformMatrix(void);
 126
 127   void Debug(int from);
 128 };
 129 }
 130 #endif