1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
5 Date started: 29 August 2009
7 ------------- Copyright (C) 2009 -------------
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
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
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.
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.
27 --------------------------------------------------------------------------------
29 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
31 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
36 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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"
48 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
50 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
52 #define ID_GYRO "$Id$"
54 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
56 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
62 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
64 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
66 /** Encapsulates a Gyro component for the flight control system.
72 <input> property </input>
74 <noise variation="PERCENT|ABSOLUTE"> number </noise>
75 <quantization name="name">
80 <drift_rate> number </drift_rate>
88 <gyro name="aero/gyro/qbar">
89 <input> aero/qbar </input>
91 <noise variation="PERCENT"> 2 </noise>
92 <quantization name="aero/gyro/quantized/qbar">
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.
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
111 @author Jon S. Berndt
115 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
117 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
119 class FGGyro : public FGSensor
122 FGGyro(FGFCS* fcs, Element* element);
128 FGPropagate* Propagate;
129 FGColumnVector3 vOrient;
130 FGColumnVector3 vAccel;
132 void CalculateTransformMatrix(void);
135 void Debug(int from);