Merge branch 'next' of gitorious.org:fg/flightgear into next

[flightgear.git] / src / FDM / JSBSim / models / flight_control / FGGyro.h

diff --git a/src/FDM/JSBSim/models/flight_control/FGGyro.h b/src/FDM/JSBSim/models/flight_control/FGGyro.h
old mode 100755 (executable)
new mode 100644 (file)
index c486eee..39db505
--- a/src/FDM/JSBSim/models/flight_control/FGGyro.h
+++ b/src/FDM/JSBSim/models/flight_control/FGGyro.h
@@ -38,18 +38,16 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGSensor.h"
-#include <input_output/FGXMLElement.h>
-#include "models/FGPropagate.h"
-#include "models/FGMassBalance.h"
-#include "models/FGInertial.h"
+#include "input_output/FGXMLElement.h"
 #include "math/FGColumnVector3.h"
 #include "math/FGMatrix33.h"
+#include "FGSensorOrientation.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#define ID_GYRO "$Id$"
+#define ID_GYRO "$Id: FGGyro.h,v 1.6 2011/07/17 13:51:23 jberndt Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -58,6 +56,7 @@ FORWARD DECLARATIONS
 namespace JSBSim {
 
 class FGFCS;
+class FGAccelerations;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
@@ -69,7 +68,6 @@ Syntax:
 
 @code
 <gyro name="name">
-  <input> property </input>
   <lag> number </lag>
   <noise variation="PERCENT|ABSOLUTE"> number </noise>
   <quantization name="name">
@@ -85,8 +83,8 @@ Syntax:
 Example:
 
 @code
-<gyro name="aero/gyro/qbar">
-  <input> aero/qbar </input>
+<gyro name="aero/gyro/roll">
+  <axis> X </axis>
   <lag> 0.5 </lag>
   <noise variation="PERCENT"> 2 </noise>
   <quantization name="aero/gyro/quantized/qbar">
@@ -98,9 +96,6 @@ Example:
 </gyro>
 @endcode
 
-The only required element in the gyro definition is the input element. In that
-case, no degradation would be modeled, and the output would simply be the input.
-
 For noise, if the type is PERCENT, then the value supplied is understood to be a
 percentage variance. That is, if the number given is 0.05, the the variance is
 understood to be +/-0.05 percent maximum variance. So, the actual value for the gyro
@@ -109,14 +104,14 @@ even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the del
 time.
 
 @author Jon S. Berndt
-@version $Revision$
+@version $Revision: 1.6 $
 */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DECLARATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-class FGGyro  : public FGSensor
+class FGGyro  : public FGSensor, public FGSensorOrientation
 {
 public:
   FGGyro(FGFCS* fcs, Element* element);
@@ -125,12 +120,9 @@ public:
   bool Run (void);
 
 private:
-  FGPropagate* Propagate;
-  FGColumnVector3 vOrient;
+  FGAccelerations* Accelerations;
   FGColumnVector3 vAccel;
-  FGMatrix33 mT;
   void CalculateTransformMatrix(void);
-  int axis;
   
   void Debug(int from);
 };