1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 Header: FGMagnetometer.h
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.
27 --------------------------------------------------------------------------------
29 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
31 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
33 #ifndef FGMAGNETOMETER_H
34 #define FGMAGNETOMETER_H
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_MAGNETOMETER "$Id$"
54 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
56 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
62 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
64 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
66 /** Encapsulates a magnetometer component for the flight control system.
71 <magnetometer name="name">
72 <input> property </input>
74 <noise variation="PERCENT|ABSOLUTE"> number </noise>
75 <quantization name="name">
80 <drift_rate> number </drift_rate>
89 <magnetometer name="aero/magnetometer/qbar">
90 <input> aero/qbar </input>
92 <noise variation="PERCENT"> 2 </noise>
93 <quantization name="aero/magnetometer/quantized/qbar">
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.
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
113 @author Jon S. Berndt
117 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
119 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
121 class FGMagnetometer : public FGSensor
124 FGMagnetometer(FGFCS* fcs, Element* element);
130 FGPropagate* Propagate;
131 FGMassBalance* MassBalance;
132 FGInertial* Inertial;
133 FGColumnVector3 vLocation;
134 FGColumnVector3 vOrient;
135 FGColumnVector3 vRadius;
136 FGColumnVector3 vMag;
138 void CalculateTransformMatrix(void);
139 void updateInertialMag(void);
145 unsigned long int date;
147 int INERTIAL_UPDATE_RATE;
149 void Debug(int from);