1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
5 Date started: 9 July 2005
7 ------------- Copyright (C) 2005 -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU 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 General Public License for more
19 You should have received a copy of the GNU 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 General Public License can also be found on
24 the world wide web at http://www.gnu.org.
27 --------------------------------------------------------------------------------
29 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
31 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
36 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
40 #include "FGFCSComponent.h"
41 #include <input_output/FGXMLElement.h>
43 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
45 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
47 #define ID_SENSOR "$Id$"
49 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
51 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
57 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
59 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
61 /** Encapsulates a Sensor component for the flight control system.
65 <sensor name=
\94name
\94 rate_group=
\94name
\94>
66 <input> property </input>
68 <noise variation=
\94PERCENT|ABSOLUTE
\94> number </noise>
69 <quantization name="name">
74 <drift_rate> number </drift_rate>
80 <sensor name=
\94aero/sensor/qbar
\94 rate_group=
\94HFCS
\94>
81 <input> aero/qbar </input>
83 <noise variation=
\94PERCENT
\94> 2 </noise>
84 <quantization name="aero/sensor/quantized/qbar">
92 The only required element in the sensor definition is the input element. In that
93 case, no degradation would be modeled, and the output would simply be the input.
95 For noise, if the type is PERCENT, then the value supplied is understood to be a
96 percentage variance. That is, if the number given is 0.05, the the variance is
97 understood to be +/-0.05 percent maximum variance. So, the actual value for the sensor
98 will be *anywhere* from 0.95 to 1.05 of the actual "perfect" value at any time -
99 even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the delta
102 @author Jon S. Berndt
106 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
108 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
110 class FGSensor : public FGFCSComponent
113 FGSensor(FGFCS* fcs, Element* element);
116 inline void SetFailLow(double val) {if (val > 0.0) fail_low = true; else fail_low = false;}
117 inline void SetFailHigh(double val) {if (val > 0.0) fail_high = true; else fail_high = false;}
118 inline void SetFailStuck(double val) {if (val > 0.0) fail_stuck = true; else fail_stuck = false;}
120 inline double GetFailLow(void) const {if (fail_low) return 1.0; else return 0.0;}
121 inline double GetFailHigh(void) const {if (fail_high) return 1.0; else return 0.0;}
122 inline double GetFailStuck(void) const {if (fail_stuck) return 1.0; else return 0.0;}
127 enum eNoiseType {ePercent=0, eAbsolute} NoiseType;
134 double noise_variance;
137 double ca; /// lag filter coefficient "a"
138 double cb; /// lag filter coefficient "b"
139 double PreviousOutput;
140 double PreviousInput;
157 void Debug(int from);