152 lines
5.1 KiB
C++
Executable file
152 lines
5.1 KiB
C++
Executable file
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Module: FGAccelerometer.cpp
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Author: Jon Berndt
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Date started: 9 July 2005
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------------- Copyright (C) 2005 -------------
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This program is free software; you can redistribute it and/or modify it under
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the terms of the GNU Lesser General Public License as published by the Free Software
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Foundation; either version 2 of the License, or (at your option) any later
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version.
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This program is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
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details.
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You should have received a copy of the GNU Lesser General Public License along with
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this program; if not, write to the Free Software Foundation, Inc., 59 Temple
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Place - Suite 330, Boston, MA 02111-1307, USA.
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Further information about the GNU Lesser General Public License can also be found on
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the world wide web at http://www.gnu.org.
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FUNCTIONAL DESCRIPTION
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--------------------------------------------------------------------------------
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HISTORY
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--------------------------------------------------------------------------------
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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COMMENTS, REFERENCES, and NOTES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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INCLUDES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#include "FGAccelerometer.h"
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#include <iostream>
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#include <cstdlib>
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using namespace std;
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namespace JSBSim {
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static const char *IdSrc = "$Id: FGAccelerometer.cpp,v 1.8 2009/10/24 22:59:30 jberndt Exp $";
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static const char *IdHdr = ID_ACCELEROMETER;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS IMPLEMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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FGAccelerometer::FGAccelerometer(FGFCS* fcs, Element* element)
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: FGSensor(fcs, element),
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FGSensorOrientation(element)
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{
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Propagate = fcs->GetExec()->GetPropagate();
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MassBalance = fcs->GetExec()->GetMassBalance();
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Inertial = fcs->GetExec()->GetInertial();
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Element* location_element = element->FindElement("location");
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if (location_element) vLocation = location_element->FindElementTripletConvertTo("IN");
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else {cerr << "No location given for accelerometer. " << endl; exit(-1);}
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vRadius = MassBalance->StructuralToBody(vLocation);
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Debug(0);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGAccelerometer::~FGAccelerometer()
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{
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Debug(1);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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bool FGAccelerometer::Run(void )
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{
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// There is no input assumed. This is a dedicated acceleration sensor.
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vRadius = MassBalance->StructuralToBody(vLocation);
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//gravitational forces
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vAccel = Propagate->GetTl2b() * FGColumnVector3(0, 0, Inertial->gravity());
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//aircraft forces
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vAccel += (Propagate->GetUVWdot()
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+ Propagate->GetPQRdot() * vRadius
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+ Propagate->GetPQR() * (Propagate->GetPQR() * vRadius));
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// transform to the specified orientation
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vAccel = mT * vAccel;
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Input = vAccel(axis);
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ProcessSensorSignal();
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return true;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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// The bitmasked value choices are as follows:
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// unset: In this case (the default) JSBSim would only print
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// out the normally expected messages, essentially echoing
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// the config files as they are read. If the environment
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// variable is not set, debug_lvl is set to 1 internally
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// 0: This requests JSBSim not to output any messages
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// whatsoever.
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// 1: This value explicity requests the normal JSBSim
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// startup messages
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// 2: This value asks for a message to be printed out when
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// a class is instantiated
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// 4: When this value is set, a message is displayed when a
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// FGModel object executes its Run() method
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// 8: When this value is set, various runtime state variables
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// are printed out periodically
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// 16: When set various parameters are sanity checked and
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// a message is printed out when they go out of bounds
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void FGAccelerometer::Debug(int from)
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{
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string ax[4] = {"none", "X", "Y", "Z"};
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if (debug_lvl <= 0) return;
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if (debug_lvl & 1) { // Standard console startup message output
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if (from == 0) { // Constructor
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cout << " Axis: " << ax[axis] << endl;
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}
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}
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if (debug_lvl & 2 ) { // Instantiation/Destruction notification
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if (from == 0) cout << "Instantiated: FGAccelerometer" << endl;
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if (from == 1) cout << "Destroyed: FGAccelerometer" << endl;
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}
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if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
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}
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if (debug_lvl & 8 ) { // Runtime state variables
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}
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if (debug_lvl & 16) { // Sanity checking
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}
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if (debug_lvl & 64) {
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if (from == 0) { // Constructor
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cout << IdSrc << endl;
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cout << IdHdr << endl;
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}
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}
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}
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}
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