JSBSim Flight Dynamics Model  1.0 (02 March 2017)
An Open Source Flight Dynamics and Control Software Library in C++
FGSensor Class Reference

Encapsulates a Sensor component for the flight control system. More...

#include <FGSensor.h>

+ Inheritance diagram for FGSensor:
+ Collaboration diagram for FGSensor:

Public Member Functions

 FGSensor (FGFCS *fcs, Element *element)
 
double GetFailHigh (void) const
 
double GetFailLow (void) const
 
double GetFailStuck (void) const
 
int GetQuantized (void) const
 
void ResetPastStates (void)
 
virtual bool Run (void)
 
void SetFailHigh (double val)
 
void SetFailLow (double val)
 
void SetFailStuck (double val)
 
- Public Member Functions inherited from FGFCSComponent
 FGFCSComponent (FGFCS *fcs, Element *el)
 Constructor.
 
virtual ~FGFCSComponent ()
 Destructor.
 
std::string GetName (void) const
 
double GetOutput (void) const
 
virtual double GetOutputPct (void) const
 
std::string GetType (void) const
 
void SetDtForFrameCount (int FrameCount)
 
virtual void SetOutput (void)
 
- Public Member Functions inherited from FGJSBBase
 FGJSBBase ()
 Constructor for FGJSBBase.
 
virtual ~FGJSBBase ()
 Destructor for FGJSBBase.
 
void disableHighLighting (void)
 Disables highlighting in the console output.
 
std::string GetVersion (void)
 Returns the version number of JSBSim. More...
 
void PutMessage (const Message &msg)
 Places a Message structure on the Message queue. More...
 
void PutMessage (const std::string &text)
 Creates a message with the given text and places it on the queue. More...
 
void PutMessage (const std::string &text, bool bVal)
 Creates a message with the given text and boolean value and places it on the queue. More...
 
void PutMessage (const std::string &text, int iVal)
 Creates a message with the given text and integer value and places it on the queue. More...
 
void PutMessage (const std::string &text, double dVal)
 Creates a message with the given text and double value and places it on the queue. More...
 
int SomeMessages (void)
 Reads the message on the queue (but does not delete it). More...
 
void ProcessMessage (void)
 Reads the message on the queue and removes it from the queue. More...
 
MessageProcessNextMessage (void)
 Reads the next message on the queue and removes it from the queue. More...
 

Protected Types

enum  eDistributionType { eUniform =0, eGaussian }
 
enum  eNoiseType { ePercent =0, eAbsolute }
 

Protected Member Functions

void Bias (void)
 
void bind (void)
 
void Drift (void)
 
void Gain (void)
 
void Lag (void)
 
void Noise (void)
 
void ProcessSensorSignal (void)
 
void Quantize (void)
 
- Protected Member Functions inherited from FGFCSComponent
void Clip (void)
 
void Delay (void)
 
- Protected Member Functions inherited from FGJSBBase
void Debug (int)
 

Protected Attributes

double bias
 
int bits
 
double ca
 
double cb
 lag filter coefficient "a"
 
enum JSBSim::FGSensor::eDistributionType DistributionType
 
int divisions
 
double drift
 
double drift_rate
 
bool fail_high
 
bool fail_low
 
bool fail_stuck
 
double gain
 
double granularity
 
double lag
 
double max
 
double min
 
int noise_type
 
double noise_variance
 
enum JSBSim::FGSensor::eNoiseType NoiseType
 
double PreviousInput
 
double PreviousOutput
 lag filter coefficient "b"
 
std::string quant_property
 
int quantized
 
double span
 
- Protected Attributes inherited from FGFCSComponent
bool clip
 
double clipmax
 
FGPropertyNode_ptr ClipMaxPropertyNode
 
float clipMaxSign
 
double clipmin
 
FGPropertyNode_ptr ClipMinPropertyNode
 
float clipMinSign
 
unsigned int delay
 
double delay_time
 
double dt
 
FGFCSfcs
 
int index
 
std::vector< std::string > InitNames
 
std::vector< FGPropertyValue * > InitNodes
 
std::vector< float > InitSigns
 
double Input
 
std::vector< std::string > InputNames
 
std::vector< FGPropertyValue * > InputNodes
 
std::vector< float > InputSigns
 
bool IsOutput
 
std::string Name
 
double Output
 
std::vector< double > output_array
 
std::vector< FGPropertyNode_ptr > OutputNodes
 
FGPropertyManagerPropertyManager
 
FGPropertyNode_ptr treenode
 
std::string Type
 

Additional Inherited Members

- Public Types inherited from FGJSBBase
enum  { eL = 1, eM, eN }
 Moments L, M, N.
 
enum  { eP = 1, eQ, eR }
 Rates P, Q, R.
 
enum  { eU = 1, eV, eW }
 Velocities U, V, W.
 
enum  { eX = 1, eY, eZ }
 Positions X, Y, Z.
 
enum  { ePhi = 1, eTht, ePsi }
 Euler angles Phi, Theta, Psi.
 
enum  { eDrag = 1, eSide, eLift }
 Stability axis forces, Drag, Side force, Lift.
 
enum  { eRoll = 1, ePitch, eYaw }
 Local frame orientation Roll, Pitch, Yaw.
 
enum  { eNorth = 1, eEast, eDown }
 Local frame position North, East, Down.
 
enum  { eLat = 1, eLong, eRad }
 Locations Radius, Latitude, Longitude.
 
enum  {
  inNone = 0, inDegrees, inRadians, inMeters,
  inFeet
}
 Conversion specifiers.
 
- Static Public Member Functions inherited from FGJSBBase
static double CelsiusToFahrenheit (double celsius)
 Converts from degrees Celsius to degrees Fahrenheit. More...
 
static double CelsiusToKelvin (double celsius)
 Converts from degrees Celsius to degrees Kelvin. More...
 
static double CelsiusToRankine (double celsius)
 Converts from degrees Celsius to degrees Rankine. More...
 
static double Constrain (double min, double value, double max)
 Constrain a value between a minimum and a maximum value.
 
static bool EqualToRoundoff (double a, double b)
 Finite precision comparison. More...
 
static bool EqualToRoundoff (float a, float b)
 Finite precision comparison. More...
 
static bool EqualToRoundoff (float a, double b)
 Finite precision comparison. More...
 
static bool EqualToRoundoff (double a, float b)
 Finite precision comparison. More...
 
static double FahrenheitToCelsius (double fahrenheit)
 Converts from degrees Fahrenheit to degrees Celsius. More...
 
static double FeetToMeters (double measure)
 Converts from feet to meters. More...
 
static double GaussianRandomNumber (void)
 
static double KelvinToCelsius (double kelvin)
 Converts from degrees Kelvin to degrees Celsius. More...
 
static double KelvinToFahrenheit (double kelvin)
 Converts from degrees Kelvin to degrees Fahrenheit. More...
 
static double KelvinToRankine (double kelvin)
 Converts from degrees Kelvin to degrees Rankine. More...
 
static double MachFromVcalibrated (double vcas, double p, double psl, double rhosl)
 Calculate the Mach number from the calibrated airspeed. More...
 
static double PitotTotalPressure (double mach, double p)
 Compute the total pressure in front of the Pitot tube. More...
 
static double RankineToCelsius (double rankine)
 Converts from degrees Rankine to degrees Celsius. More...
 
static double RankineToKelvin (double rankine)
 Converts from degrees Rankine to degrees Kelvin. More...
 
static double sign (double num)
 
static double VcalibratedFromMach (double mach, double p, double psl, double rhosl)
 Calculate the calibrated airspeed from the Mach number. More...
 
- Static Public Attributes inherited from FGJSBBase
static short debug_lvl = 1
 
static char highint [5] = {27, '[', '1', 'm', '\0' }
 highlights text
 
static char halfint [5] = {27, '[', '2', 'm', '\0' }
 low intensity text
 
static char normint [6] = {27, '[', '2', '2', 'm', '\0' }
 normal intensity text
 
static char reset [5] = {27, '[', '0', 'm', '\0' }
 resets text properties
 
static char underon [5] = {27, '[', '4', 'm', '\0' }
 underlines text
 
static char underoff [6] = {27, '[', '2', '4', 'm', '\0' }
 underline off
 
static char fgblue [6] = {27, '[', '3', '4', 'm', '\0' }
 blue text
 
static char fgcyan [6] = {27, '[', '3', '6', 'm', '\0' }
 cyan text
 
static char fgred [6] = {27, '[', '3', '1', 'm', '\0' }
 red text
 
static char fggreen [6] = {27, '[', '3', '2', 'm', '\0' }
 green text
 
static char fgdef [6] = {27, '[', '3', '9', 'm', '\0' }
 default text
 
- Static Protected Member Functions inherited from FGJSBBase
static std::string CreateIndexedPropertyName (const std::string &Property, int index)
 
- Static Protected Attributes inherited from FGJSBBase
static const double degtorad = 0.017453292519943295769236907684886
 
static const double fpstokts = 1.0/ktstofps
 
static const double fttom = 0.3048
 
static int gaussian_random_number_phase = 0
 
static const double hptoftlbssec = 550.0
 
static const double in3tom3 = 1.638706E-5
 
static const double inchtoft = 0.08333333
 
static const double inhgtopa = 3386.38
 
static const std::string JSBSim_version = "1.0 " __DATE__ " " __TIME__
 
static const double kgtolb = 2.20462
 
static const double kgtoslug = 0.06852168
 
static const double ktstofps = 1.68781
 
static const double lbtoslug = 1.0/slugtolb
 
static Message localMsg
 
static const double m3toft3 = 1.0/(fttom*fttom*fttom)
 
static double Mair = 28.9645
 
static unsigned int messageId = 0
 
static std::queue< MessageMessages
 
static const std::string needed_cfg_version = "2.0"
 
static const double psftoinhg = 0.014138
 
static const double psftopa = 47.88
 
static const double radtodeg = 57.295779513082320876798154814105
 
static double Reng = 1716.56
 
static double Rstar = 1545.348
 
static const double SHRatio = 1.40
 
static const double slugtolb = 32.174049
 

Detailed Description

Encapsulates a Sensor component for the flight control system.

Syntax:

<sensor name="name">
<input> property </input>
<lag> number </lag>
<noise [variation="PERCENT|ABSOLUTE"] [distribution="UNIFORM|GAUSSIAN"]> number </noise>
<quantization name="name">
<bits> number </bits>
<min> number </min>
<max> number </max>
</quantization>
<drift_rate> number </drift_rate>
<gain> number </gain>
<bias> number </bias>
<delay [type="time|frames"]> number < /delay>
</sensor>

Example:

<sensor name="aero/sensor/qbar">
<input> aero/qbar </input>
<lag> 0.5 </lag>
<noise variation="PERCENT"> 2 </noise>
<quantization name="aero/sensor/quantized/qbar">
<bits> 12 </bits>
<min> 0 </min>
<max> 400 </max>
</quantization>
<bias> 0.5 </bias>
</sensor>

The only required element in the sensor definition is the input element. In that case, no degradation would be modeled, and the output would simply be the input.

Noise can be Gaussian or uniform, and the noise can be applied as a factor (PERCENT) or additively (ABSOLUTE). The noise that can be applied at each frame of the simulation execution is calculated as a random factor times a noise value that is specified in the config file. When the noise distribution type is Gaussian, the random number can be between roughly -3 and +3 for a span of six sigma. When the distribution type is UNIFORM, the random value can be between -1.0 and +1.0. This random value is multiplied against the specified noise to arrive at a random noise value for the frame. If the noise type is PERCENT, then random noise value is added to one, and that sum is then multiplied against the input signal for the sensor. In this case, the specified noise value in the config file would be expected to actually be a percent value, such as 0.05 (for a 5% variance). If the noise type is ABSOLUTE, then the random noise value specified in the config file is understood to be an absolute value of noise to be added to the input signal instead of being added to 1.0 and having that sum be multiplied against the input signal as in the PERCENT type. For the ABSOLUTE noise case, the noise number specified in the config file could be any number.

If the type is ABSOLUTE, then the noise number times the random number is added to the input signal instead of being multiplied against it as with the PERCENT type of noise.

The delay element can specify a frame delay. The integer number provided is the number of frames to delay the output signal.

Author
Jon S. Berndt
Version
Revision
1.24

Definition at line 134 of file FGSensor.h.


The documentation for this class was generated from the following files: