Added two missing files from JSBSim.org that were missing in the last sync.

diff --git a/src/FDM/JSBSim/models/flight_control/FGGyro.cpp b/src/FDM/JSBSim/models/flight_control/FGGyro.cpp
new file mode 100755 (executable)
index 0000000..0fcd127
--- /dev/null
+++ b/src/FDM/JSBSim/models/flight_control/FGGyro.cpp
@@ -0,0 +1,197 @@
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+ Module:       FGGyro.cpp
+ Author:       Jon Berndt
+ Date started: 29 August 2009
+
+ ------------- Copyright (C) 2009 -------------
+
+ This program is free software; you can redistribute it and/or modify it under
+ the terms of the GNU Lesser General Public License as published by the Free Software
+ Foundation; either version 2 of the License, or (at your option) any later
+ version.
+
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
+ details.
+
+ You should have received a copy of the GNU Lesser General Public License along with
+ this program; if not, write to the Free Software Foundation, Inc., 59 Temple
+ Place - Suite 330, Boston, MA  02111-1307, USA.
+
+ Further information about the GNU Lesser General Public License can also be found on
+ the world wide web at http://www.gnu.org.
+
+FUNCTIONAL DESCRIPTION
+--------------------------------------------------------------------------------
+
+HISTORY
+--------------------------------------------------------------------------------
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+COMMENTS, REFERENCES,  and NOTES
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+INCLUDES
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#include "FGGyro.h"
+
+namespace JSBSim {
+
+static const char *IdSrc = "$Id$";
+static const char *IdHdr = ID_GYRO;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+FGGyro::FGGyro(FGFCS* fcs, Element* element) : FGSensor(fcs, element)
+{
+  Propagate = fcs->GetExec()->GetPropagate();
+  
+  Element* orient_element = element->FindElement("orientation");
+  if (orient_element) vOrient = orient_element->FindElementTripletConvertTo("RAD");
+  else {cerr << "No orientation given for gyro. " << endl;}
+
+  Element* axis_element = element->FindElement("axis");
+  if (axis_element) {
+    string sAxis = element->FindElementValue("axis");
+    if (sAxis == "ROLL" || sAxis == "roll") {
+      axis = 1;
+    } else if (sAxis == "PITCH" || sAxis == "pitch") {
+      axis = 2;
+    } else if (sAxis == "YAW" || sAxis == "yaw") {
+      axis = 3;
+    } else {
+      cerr << "  Incorrect/no axis specified for gyro; assuming Roll axis" << endl;
+      axis = 1;
+    }
+  }
+
+  CalculateTransformMatrix();
+
+  Debug(0);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGGyro::~FGGyro()
+{
+  Debug(1);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGGyro::Run(void )
+{
+  // There is no input assumed. This is a dedicated angular acceleration sensor.
+  
+  //aircraft rates
+  vAccel = mT * Propagate->GetPQRdot();
+
+  Input = vAccel(axis);
+
+  Output = Input; // perfect gyro
+
+  // Degrade signal as specified
+
+  if (fail_stuck) {
+    Output = PreviousOutput;
+    return true;
+  }
+
+  if (lag != 0.0)            Lag();       // models gyro lag
+  if (noise_variance != 0.0) Noise();     // models noise
+  if (drift_rate != 0.0)     Drift();     // models drift over time
+  if (bias != 0.0)           Bias();      // models a finite bias
+  if (gain != 0.0)           Gain();      // models a gain
+
+  if (fail_low)  Output = -HUGE_VAL;
+  if (fail_high) Output =  HUGE_VAL;
+
+  if (bits != 0)             Quantize();  // models quantization degradation
+//  if (delay != 0.0)          Delay();     // models system signal transport latencies
+
+  Clip(); // Is it right to clip a gyro?
+  return true;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGGyro::CalculateTransformMatrix(void)
+{
+  double cp,sp,cr,sr,cy,sy;
+
+  cp=cos(vOrient(ePitch)); sp=sin(vOrient(ePitch));
+  cr=cos(vOrient(eRoll));  sr=sin(vOrient(eRoll));
+  cy=cos(vOrient(eYaw));   sy=sin(vOrient(eYaw));
+
+  mT(1,1) =  cp*cy;
+  mT(1,2) =  cp*sy;
+  mT(1,3) = -sp;
+
+  mT(2,1) = sr*sp*cy - cr*sy;
+  mT(2,2) = sr*sp*sy + cr*cy;
+  mT(2,3) = sr*cp;
+
+  mT(3,1) = cr*sp*cy + sr*sy;
+  mT(3,2) = cr*sp*sy - sr*cy;
+  mT(3,3) = cr*cp;
+
+  // This transform is different than for FGForce, where we want a native nozzle
+  // force in body frame. Here we calculate the body frame accel and want it in
+  // the transformed gyro frame. So, the next line is commented out.
+  // mT = mT.Inverse();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+//    The bitmasked value choices are as follows:
+//    unset: In this case (the default) JSBSim would only print
+//       out the normally expected messages, essentially echoing
+//       the config files as they are read. If the environment
+//       variable is not set, debug_lvl is set to 1 internally
+//    0: This requests JSBSim not to output any messages
+//       whatsoever.
+//    1: This value explicity requests the normal JSBSim
+//       startup messages
+//    2: This value asks for a message to be printed out when
+//       a class is instantiated
+//    4: When this value is set, a message is displayed when a
+//       FGModel object executes its Run() method
+//    8: When this value is set, various runtime state variables
+//       are printed out periodically
+//    16: When set various parameters are sanity checked and
+//       a message is printed out when they go out of bounds
+
+void FGGyro::Debug(int from)
+{
+  string ax[4] = {"none", "X", "Y", "Z"};
+
+  if (debug_lvl <= 0) return;
+
+  if (debug_lvl & 1) { // Standard console startup message output
+    if (from == 0) { // Constructor
+      cout << "        Axis: " << ax[axis] << endl;
+    }
+  }
+  if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+    if (from == 0) cout << "Instantiated: FGGyro" << endl;
+    if (from == 1) cout << "Destroyed:    FGGyro" << endl;
+  }
+  if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
+  }
+  if (debug_lvl & 8 ) { // Runtime state variables
+  }
+  if (debug_lvl & 16) { // Sanity checking
+  }
+  if (debug_lvl & 64) {
+    if (from == 0) { // Constructor
+      cout << IdSrc << endl;
+      cout << IdHdr << endl;
+    }
+  }
+}
+}

diff --git a/src/FDM/JSBSim/models/flight_control/FGGyro.h b/src/FDM/JSBSim/models/flight_control/FGGyro.h
new file mode 100755 (executable)
index 0000000..c486eee
--- /dev/null
+++ b/src/FDM/JSBSim/models/flight_control/FGGyro.h
@@ -0,0 +1,138 @@
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+ Header:       FGGyro.h
+ Author:       Jon Berndt
+ Date started: 29 August 2009
+
+ ------------- Copyright (C) 2009 -------------
+
+ This program is free software; you can redistribute it and/or modify it under
+ the terms of the GNU Lesser General Public License as published by the Free Software
+ Foundation; either version 2 of the License, or (at your option) any later
+ version.
+
+ This program is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
+ details.
+
+ You should have received a copy of the GNU Lesser General Public License along with
+ this program; if not, write to the Free Software Foundation, Inc., 59 Temple
+ Place - Suite 330, Boston, MA  02111-1307, USA.
+
+ Further information about the GNU Lesser General Public License can also be found on
+ the world wide web at http://www.gnu.org.
+
+HISTORY
+--------------------------------------------------------------------------------
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+SENTRY
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#ifndef FGGYRO_H
+#define FGGYRO_H
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+INCLUDES
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#include "FGSensor.h"
+#include <input_output/FGXMLElement.h>
+#include "models/FGPropagate.h"
+#include "models/FGMassBalance.h"
+#include "models/FGInertial.h"
+#include "math/FGColumnVector3.h"
+#include "math/FGMatrix33.h"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DEFINITIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#define ID_GYRO "$Id$"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+namespace JSBSim {
+
+class FGFCS;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/** Encapsulates a Gyro component for the flight control system.
+
+Syntax:
+
+@code
+<gyro name="name">
+  <input> property </input>
+  <lag> number </lag>
+  <noise variation="PERCENT|ABSOLUTE"> number </noise>
+  <quantization name="name">
+    <bits> number </bits>
+    <min> number </min>
+    <max> number </max>
+  </quantization>
+  <drift_rate> number </drift_rate>
+  <bias> number </bias>
+</gyro>
+@endcode
+
+Example:
+
+@code
+<gyro name="aero/gyro/qbar">
+  <input> aero/qbar </input>
+  <lag> 0.5 </lag>
+  <noise variation="PERCENT"> 2 </noise>
+  <quantization name="aero/gyro/quantized/qbar">
+    <bits> 12 </bits>
+    <min> 0 </min>
+    <max> 400 </max>
+  </quantization>
+  <bias> 0.5 </bias>
+</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
+will be *anywhere* from 0.95 to 1.05 of the actual "perfect" value at any time -
+even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the delta
+time.
+
+@author Jon S. Berndt
+@version $Revision$
+*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DECLARATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+class FGGyro  : public FGSensor
+{
+public:
+  FGGyro(FGFCS* fcs, Element* element);
+  ~FGGyro();
+
+  bool Run (void);
+
+private:
+  FGPropagate* Propagate;
+  FGColumnVector3 vOrient;
+  FGColumnVector3 vAccel;
+  FGMatrix33 mT;
+  void CalculateTransformMatrix(void);
+  int axis;
+  
+  void Debug(int from);
+};
+}
+#endif