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 "$Id$"
  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   <input> property </input>
  74   <lag> number </lag>
  75   <noise variation="PERCENT|ABSOLUTE"> number </noise>
  76   <quantization name="name">
  77     <bits> number </bits>
  78     <min> number </min>
  79     <max> number </max>
  80   </quantization>
  81   <drift_rate> number </drift_rate>
  82   <bias> number </bias>
  83 </gyro>
  84 @endcode
  85
  86 Example:
  87
  88 @code
  89 <gyro name="aero/gyro/qbar">
  90   <input> aero/qbar </input>
  91   <lag> 0.5 </lag>
  92   <noise variation="PERCENT"> 2 </noise>
  93   <quantization name="aero/gyro/quantized/qbar">
  94     <bits> 12 </bits>
  95     <min> 0 </min>
  96     <max> 400 </max>
  97   </quantization>
  98   <bias> 0.5 </bias>
  99 </gyro>
 100 @endcode
 101
 102 The only required element in the gyro definition is the input element. In that
 103 case, no degradation would be modeled, and the output would simply be the input.
 104
 105 For noise, if the type is PERCENT, then the value supplied is understood to be a
 106 percentage variance. That is, if the number given is 0.05, the the variance is
 107 understood to be +/-0.05 percent maximum variance. So, the actual value for the gyro
 108 will be *anywhere* from 0.95 to 1.05 of the actual "perfect" value at any time -
 109 even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the delta
 110 time.
 111
 112 @author Jon S. Berndt
 113 @version $Revision$
 114 */
 115
 116 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 117 CLASS DECLARATION
 118 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 119
 120 class FGGyro  : public FGSensor, public FGSensorOrientation
 121 {
 122 public:
 123   FGGyro(FGFCS* fcs, Element* element);
 124   ~FGGyro();
 125
 126   bool Run (void);
 127
 128 private:
 129   FGPropagate* Propagate;
 130   FGColumnVector3 vAccel;
 131   void CalculateTransformMatrix(void);
 132
 133   void Debug(int from);
 134 };
 135 }
 136 #endif