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 #include "FGSensorOrientation.h"
  48
  49 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  50 DEFINITIONS
  51 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  52
  53 #define ID_MAGNETOMETER "$Id$"
  54
  55 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  56 FORWARD DECLARATIONS
  57 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  58
  59 namespace JSBSim {
  60
  61 class FGFCS;
  62
  63 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  64 CLASS DOCUMENTATION
  65 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  66
  67 /** Encapsulates a magnetometer component for the flight control system.
  68
  69 Syntax:
  70
  71 @code
  72 <magnetometer 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   <gain> number </gain>
  84 </magnetometer>
  85 @endcode
  86
  87 Example:
  88
  89 @code
  90 <magnetometer name="aero/magnetometer/qbar">
  91   <input> aero/qbar </input>
  92   <lag> 0.5 </lag>
  93   <noise variation="PERCENT"> 2 </noise>
  94   <quantization name="aero/magnetometer/quantized/qbar">
  95     <bits> 12 </bits>
  96     <min> 0 </min>
  97     <max> 400 </max>
  98   </quantization>
  99   <bias> 0.5 </bias>
 100   <gain> 0.5 </gain>
 101 </magnetometer>
 102 @endcode
 103
 104 The only required element in the magnetometer definition is the input element. In that
 105 case, no degradation would be modeled, and the output would simply be the input.
 106
 107 For noise, if the type is PERCENT, then the value supplied is understood to be a
 108 percentage variance. That is, if the number given is 0.05, the the variance is
 109 understood to be +/-0.05 percent maximum variance. So, the actual value for the magnetometer
 110 will be *anywhere* from 0.95 to 1.05 of the actual "perfect" value at any time -
 111 even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the delta
 112 time.
 113
 114 @author Jon S. Berndt
 115 @version $Revision$
 116 */
 117
 118 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 119 CLASS DECLARATION
 120 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 121
 122 class FGMagnetometer  : public FGSensor, public FGSensorOrientation
 123 {
 124 public:
 125   FGMagnetometer(FGFCS* fcs, Element* element);
 126   ~FGMagnetometer();
 127
 128   bool Run (void);
 129
 130 private:
 131   FGPropagate* Propagate;
 132   FGMassBalance* MassBalance;
 133   FGInertial* Inertial;
 134   FGColumnVector3 vLocation;
 135   FGColumnVector3 vRadius;
 136   FGColumnVector3 vMag;
 137   void updateInertialMag(void);
 138   double field[6];
 139   double usedLat;
 140   double usedLon;
 141   double usedAlt;
 142   unsigned long int date;
 143   int counter;
 144   int INERTIAL_UPDATE_RATE;
 145
 146   void Debug(int from);
 147 };
 148 }
 149 #endif