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
  48 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  49 DEFINITIONS
  50 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  51
  52 #define ID_GYRO "$Id$"
  53
  54 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  55 FORWARD DECLARATIONS
  56 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  57
  58 namespace JSBSim {
  59
  60 class FGFCS;
  61
  62 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  63 CLASS DOCUMENTATION
  64 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  65
  66 /** Encapsulates a Gyro component for the flight control system.
  67
  68 Syntax:
  69
  70 @code
  71 <gyro name="name">
  72   <input> property </input>
  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/qbar">
  89   <input> aero/qbar </input>
  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 The only required element in the gyro definition is the input element. In that
 102 case, no degradation would be modeled, and the output would simply be the input.
 103
 104 For noise, if the type is PERCENT, then the value supplied is understood to be a
 105 percentage variance. That is, if the number given is 0.05, the the variance is
 106 understood to be +/-0.05 percent maximum variance. So, the actual value for the gyro
 107 will be *anywhere* from 0.95 to 1.05 of the actual "perfect" value at any time -
 108 even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the delta
 109 time.
 110
 111 @author Jon S. Berndt
 112 @version $Revision$
 113 */
 114
 115 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 116 CLASS DECLARATION
 117 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 118
 119 class FGGyro  : public FGSensor
 120 {
 121 public:
 122   FGGyro(FGFCS* fcs, Element* element);
 123   ~FGGyro();
 124
 125   bool Run (void);
 126
 127 private:
 128   FGPropagate* Propagate;
 129   FGColumnVector3 vOrient;
 130   FGColumnVector3 vAccel;
 131   FGMatrix33 mT;
 132   void CalculateTransformMatrix(void);
 133   int axis;
 134
 135   void Debug(int from);
 136 };
 137 }
 138 #endif