1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 Module: FGMagnetometer.cpp
5 Date started: 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.
26 FUNCTIONAL DESCRIPTION
27 --------------------------------------------------------------------------------
30 --------------------------------------------------------------------------------
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
33 COMMENTS, REFERENCES, and NOTES
34 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
40 #include "FGMagnetometer.h"
41 #include "simgear/magvar/coremag.hxx"
46 static const char *IdSrc = "$Id$";
47 static const char *IdHdr = ID_MAGNETOMETER;
49 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
51 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
54 FGMagnetometer::FGMagnetometer(FGFCS* fcs, Element* element) : FGSensor(fcs, element),
55 FGSensorOrientation(element),
57 INERTIAL_UPDATE_RATE(1000)
59 Propagate = fcs->GetExec()->GetPropagate();
60 MassBalance = fcs->GetExec()->GetMassBalance();
61 Inertial = fcs->GetExec()->GetInertial();
63 Element* location_element = element->FindElement("location");
64 if (location_element) vLocation = location_element->FindElementTripletConvertTo("IN");
65 else {cerr << "No location given for magnetometer. " << endl; exit(-1);}
67 vRadius = MassBalance->StructuralToBody(vLocation);
69 //assuming date wont significantly change over a flight to affect mag field
70 //would be better to get the date from the sim if its simulated...
73 tm * ptm = gmtime ( &rawtime );
75 int year = ptm->tm_year;
80 //the months here are zero based TODO find out if the function expects 1s based
81 date = (yymmdd_to_julian_days(ptm->tm_year,ptm->tm_mon,ptm->tm_mday));//Julian 1950-2049 yy,mm,dd
86 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
88 FGMagnetometer::~FGMagnetometer()
93 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
94 void FGMagnetometer::updateInertialMag(void)
97 if (counter > INERTIAL_UPDATE_RATE)//dont need to update every iteration
101 usedLat = (Propagate->GetGeodLatitudeRad());//radians, N and E lat and long are positive, S and W negative
102 usedLon = (Propagate->GetLongitude());//radians
103 usedAlt = (Propagate->GetGeodeticAltitude()*fttom*0.001);//km
105 //this should be done whenever the position changes significantly (in nTesla)
106 calc_magvar( usedLat,
114 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
116 bool FGMagnetometer::Run(void )
118 // There is no input assumed. This is a dedicated magnetic field sensor.
120 vRadius = MassBalance->StructuralToBody(vLocation);
124 // Inertial magnetic field rotated to the body frame
125 vMag = Propagate->GetTl2b() * FGColumnVector3(field[3], field[4], field[5]);
127 // Allow for sensor orientation
132 ProcessSensorSignal();
137 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
138 // The bitmasked value choices are as follows:
139 // unset: In this case (the default) JSBSim would only print
140 // out the normally expected messages, essentially echoing
141 // the config files as they are read. If the environment
142 // variable is not set, debug_lvl is set to 1 internally
143 // 0: This requests JSBSim not to output any messages
145 // 1: This value explicity requests the normal JSBSim
147 // 2: This value asks for a message to be printed out when
148 // a class is instantiated
149 // 4: When this value is set, a message is displayed when a
150 // FGModel object executes its Run() method
151 // 8: When this value is set, various runtime state variables
152 // are printed out periodically
153 // 16: When set various parameters are sanity checked and
154 // a message is printed out when they go out of bounds
156 void FGMagnetometer::Debug(int from)
158 string ax[4] = {"none", "X", "Y", "Z"};
160 if (debug_lvl <= 0) return;
162 if (debug_lvl & 1) { // Standard console startup message output
163 if (from == 0) { // Constructor
164 cout << " Axis: " << ax[axis] << endl;
167 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
168 if (from == 0) cout << "Instantiated: FGMagnetometer" << endl;
169 if (from == 1) cout << "Destroyed: FGMagnetometer" << endl;
171 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
173 if (debug_lvl & 8 ) { // Runtime state variables
175 if (debug_lvl & 16) { // Sanity checking
177 if (debug_lvl & 64) {
178 if (from == 0) { // Constructor
179 cout << IdSrc << endl;
180 cout << IdHdr << endl;