254 lines
8.4 KiB
C++
Executable file
254 lines
8.4 KiB
C++
Executable file
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Module: FGMagnetometer.cpp
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Author: Matthew Chave
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Date started: August 2009
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------------- Copyright (C) 2009 -------------
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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 "FGMagnetometer.h"
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#include "simgear/magvar/coremag.hxx"
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#include <ctime>
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namespace JSBSim {
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static const char *IdSrc = "$Id$";
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static const char *IdHdr = ID_MAGNETOMETER;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS IMPLEMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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FGMagnetometer::FGMagnetometer(FGFCS* fcs, Element* element) : FGSensor(fcs, element),\
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counter(0),
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INERTIAL_UPDATE_RATE(1000)
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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 magnetometer. " << endl; exit(-1);}
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vRadius = MassBalance->StructuralToBody(vLocation);
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Element* orient_element = element->FindElement("orientation");
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if (orient_element) vOrient = orient_element->FindElementTripletConvertTo("RAD");
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else {cerr << "No orientation given for magnetometer. " << endl;}
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Element* axis_element = element->FindElement("axis");
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if (axis_element) {
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string sAxis = element->FindElementValue("axis");
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if (sAxis == "X" || sAxis == "x") {
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axis = 1;
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} else if (sAxis == "Y" || sAxis == "y") {
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axis = 2;
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} else if (sAxis == "Z" || sAxis == "z") {
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axis = 3;
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} else {
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cerr << " Incorrect/no axis specified for magnetometer; assuming X axis" << endl;
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axis = 1;
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}
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}
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CalculateTransformMatrix();
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//assuming date wont significantly change over a flight to affect mag field
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//would be better to get the date from the sim if its simulated...
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time_t rawtime;
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time( &rawtime );
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tm * ptm = gmtime ( &rawtime );
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int year = ptm->tm_year;
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if(year>100)
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{
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year-= 100;
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}
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//the months here are zero based TODO find out if the function expects 1s based
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date = (yymmdd_to_julian_days(ptm->tm_year,ptm->tm_mon,ptm->tm_mday));//Julian 1950-2049 yy,mm,dd
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updateInertialMag();
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Debug(0);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGMagnetometer::~FGMagnetometer()
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{
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Debug(1);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGMagnetometer::updateInertialMag(void)
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{
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counter++;
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if(counter > INERTIAL_UPDATE_RATE)//dont need to update every iteration
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{
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counter = 0;
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usedLat = (Propagate->GetGeodLatitudeRad());//radians, N and E lat and long are positive, S and W negative
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usedLon = (Propagate->GetLongitude());//radians
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usedAlt = (Propagate->GetGeodeticAltitude()*fttom*0.001);//km
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//this should be done whenever the position changes significantly (in nTesla)
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double magvar = calc_magvar( usedLat,
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usedLon,
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usedAlt,
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date,
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field );
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}
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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bool FGMagnetometer::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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updateInertialMag();
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//Inertial magnetic field rotated to the body frame
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vMag = Propagate->GetTl2b() * FGColumnVector3(field[3], field[4], field[5]);
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//allow for sensor orientation
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vMag = mT * vMag;
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Input = vMag(axis);
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Output = Input; // perfect magnetometer
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// Degrade signal as specified
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if (fail_stuck) {
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Output = PreviousOutput;
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return true;
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}
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if (lag != 0.0) Lag(); // models magnetometer lag
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if (noise_variance != 0.0) Noise(); // models noise
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if (drift_rate != 0.0) Drift(); // models drift over time
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if (bias != 0.0) Bias(); // models a finite bias
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if (gain != 0.0) Gain(); // models a gain
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if (fail_low) Output = -HUGE_VAL;
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if (fail_high) Output = HUGE_VAL;
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if (bits != 0) Quantize(); // models quantization degradation
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// if (delay != 0.0) Delay(); // models system signal transport latencies
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Clip(); // Is it right to clip an magnetometer?
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return true;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGMagnetometer::CalculateTransformMatrix(void)
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{
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double cp,sp,cr,sr,cy,sy;
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cp=cos(vOrient(ePitch)); sp=sin(vOrient(ePitch));
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cr=cos(vOrient(eRoll)); sr=sin(vOrient(eRoll));
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cy=cos(vOrient(eYaw)); sy=sin(vOrient(eYaw));
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mT(1,1) = cp*cy;
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mT(1,2) = cp*sy;
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mT(1,3) = -sp;
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mT(2,1) = sr*sp*cy - cr*sy;
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mT(2,2) = sr*sp*sy + cr*cy;
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mT(2,3) = sr*cp;
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mT(3,1) = cr*sp*cy + sr*sy;
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mT(3,2) = cr*sp*sy - sr*cy;
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mT(3,3) = cr*cp;
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// This transform is different than for FGForce, where we want a native nozzle
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// force in body frame. Here we calculate the body frame accel and want it in
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// the transformed magnetometer frame. So, the next line is commented out.
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// mT = mT.Inverse();
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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 FGMagnetometer::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: FGMagnetometer" << endl;
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if (from == 1) cout << "Destroyed: FGMagnetometer" << 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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