src/FDM/JSBSim/models/flight_control/FGMagnetometer.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGMagnetometer.h
   4  Author:       Matthew Chave
   5  Date started: 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 FGMAGNETOMETER_H
  34 #define FGMAGNETOMETER_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_MAGNETOMETER "$Id$"
  53
  54 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  55 FORWARD DECLARATIONS
  56 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  57
  58 namespace JSBSim {
  59
  60 class FGFCS;
  61
  62 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  63 CLASS DOCUMENTATION
  64 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  65
  66 /** Encapsulates a magnetometer component for the flight control system.
  67
  68 Syntax:
  69
  70 @code
  71 <magnetometer 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   <gain> number </gain>
  83 </magnetometer>
  84 @endcode
  85
  86 Example:
  87
  88 @code
  89 <magnetometer name="aero/magnetometer/qbar">
  90   <input> aero/qbar </input>
  91   <lag> 0.5 </lag>
  92   <noise variation="PERCENT"> 2 </noise>
  93   <quantization name="aero/magnetometer/quantized/qbar">
  94     <bits> 12 </bits>
  95     <min> 0 </min>
  96     <max> 400 </max>
  97   </quantization>
  98   <bias> 0.5 </bias>
  99   <gain> 0.5 </gain>
 100 </magnetometer>
 101 @endcode
 102
 103 The only required element in the magnetometer definition is the input element. In that
 104 case, no degradation would be modeled, and the output would simply be the input.
 105
 106 For noise, if the type is PERCENT, then the value supplied is understood to be a
 107 percentage variance. That is, if the number given is 0.05, the the variance is
 108 understood to be +/-0.05 percent maximum variance. So, the actual value for the magnetometer
 109 will be *anywhere* from 0.95 to 1.05 of the actual "perfect" value at any time -
 110 even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the delta
 111 time.
 112
 113 @author Jon S. Berndt
 114 @version $Revision$
 115 */
 116
 117 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 118 CLASS DECLARATION
 119 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 120
 121 class FGMagnetometer  : public FGSensor
 122 {
 123 public:
 124   FGMagnetometer(FGFCS* fcs, Element* element);
 125   ~FGMagnetometer();
 126
 127   bool Run (void);
 128
 129 private:
 130   FGPropagate* Propagate;
 131   FGMassBalance* MassBalance;
 132   FGInertial* Inertial;
 133   FGColumnVector3 vLocation;
 134   FGColumnVector3 vOrient;
 135   FGColumnVector3 vRadius;
 136   FGColumnVector3 vMag;
 137   FGMatrix33 mT;
 138   void CalculateTransformMatrix(void);
 139   void updateInertialMag(void);
 140   int axis;
 141   double field[6];
 142   double usedLat;
 143   double usedLon;
 144   double usedAlt;
 145   unsigned long int date;
 146   int counter;
 147   int INERTIAL_UPDATE_RATE;
 148
 149   void Debug(int from);
 150 };
 151 }
 152 #endif