Branch data Line data Source code
1 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2 : :
3 : : Module: FGAccelerometer.cpp
4 : : Author: Jon Berndt
5 : : Date started: 9 July 2005
6 : :
7 : : ------------- Copyright (C) 2005 -------------
8 : :
9 : : This program is free software; you can redistribute it and/or modify it under
10 : : the terms of the GNU Lesser General Public License as published by the Free Software
11 : : Foundation; either version 2 of the License, or (at your option) any later
12 : : version.
13 : :
14 : : This program is distributed in the hope that it will be useful, but WITHOUT
15 : : ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 : : FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
17 : : details.
18 : :
19 : : You should have received a copy of the GNU Lesser General Public License along with
20 : : this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 : : Place - Suite 330, Boston, MA 02111-1307, USA.
22 : :
23 : : Further information about the GNU Lesser General Public License can also be found on
24 : : the world wide web at http://www.gnu.org.
25 : :
26 : : FUNCTIONAL DESCRIPTION
27 : : --------------------------------------------------------------------------------
28 : :
29 : : HISTORY
30 : : --------------------------------------------------------------------------------
31 : :
32 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
33 : : COMMENTS, REFERENCES, and NOTES
34 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
35 : :
36 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
37 : : INCLUDES
38 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
39 : :
40 : : #include "FGAccelerometer.h"
41 : : #include <iostream>
42 : : #include <cstdlib>
43 : :
44 : : using namespace std;
45 : :
46 : : namespace JSBSim {
47 : :
48 : : static const char *IdSrc = "$Id: FGAccelerometer.cpp,v 1.8 2009/10/24 22:59:30 jberndt Exp $";
49 : : static const char *IdHdr = ID_ACCELEROMETER;
50 : :
51 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
52 : : CLASS IMPLEMENTATION
53 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
54 : :
55 : 0 : FGAccelerometer::FGAccelerometer(FGFCS* fcs, Element* element)
56 : : : FGSensor(fcs, element),
57 : 0 : FGSensorOrientation(element)
58 : : {
59 : 0 : Propagate = fcs->GetExec()->GetPropagate();
60 : 0 : MassBalance = fcs->GetExec()->GetMassBalance();
61 : 0 : Inertial = fcs->GetExec()->GetInertial();
62 : :
63 : 0 : Element* location_element = element->FindElement("location");
64 [ # # ][ # # ]: 0 : if (location_element) vLocation = location_element->FindElementTripletConvertTo("IN");
65 : 0 : else {cerr << "No location given for accelerometer. " << endl; exit(-1);}
66 : :
67 : 0 : vRadius = MassBalance->StructuralToBody(vLocation);
68 : :
69 : 0 : Debug(0);
70 : 0 : }
71 : :
72 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
73 : :
74 : 0 : FGAccelerometer::~FGAccelerometer()
75 : : {
76 : 0 : Debug(1);
77 [ # # ][ # # ]: 0 : }
[ # # ]
78 : :
79 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
80 : :
81 : 0 : bool FGAccelerometer::Run(void )
82 : : {
83 : : // There is no input assumed. This is a dedicated acceleration sensor.
84 : :
85 : 0 : vRadius = MassBalance->StructuralToBody(vLocation);
86 : :
87 : : //gravitational forces
88 : 0 : vAccel = Propagate->GetTl2b() * FGColumnVector3(0, 0, Inertial->gravity());
89 : :
90 : : //aircraft forces
91 : : vAccel += (Propagate->GetUVWdot()
92 : : + Propagate->GetPQRdot() * vRadius
93 : 0 : + Propagate->GetPQR() * (Propagate->GetPQR() * vRadius));
94 : :
95 : : // transform to the specified orientation
96 : 0 : vAccel = mT * vAccel;
97 : :
98 : 0 : Input = vAccel(axis);
99 : :
100 : 0 : ProcessSensorSignal();
101 : :
102 : 0 : return true;
103 : : }
104 : :
105 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
106 : : // The bitmasked value choices are as follows:
107 : : // unset: In this case (the default) JSBSim would only print
108 : : // out the normally expected messages, essentially echoing
109 : : // the config files as they are read. If the environment
110 : : // variable is not set, debug_lvl is set to 1 internally
111 : : // 0: This requests JSBSim not to output any messages
112 : : // whatsoever.
113 : : // 1: This value explicity requests the normal JSBSim
114 : : // startup messages
115 : : // 2: This value asks for a message to be printed out when
116 : : // a class is instantiated
117 : : // 4: When this value is set, a message is displayed when a
118 : : // FGModel object executes its Run() method
119 : : // 8: When this value is set, various runtime state variables
120 : : // are printed out periodically
121 : : // 16: When set various parameters are sanity checked and
122 : : // a message is printed out when they go out of bounds
123 : :
124 : 0 : void FGAccelerometer::Debug(int from)
125 : : {
126 [ # # ][ # # ]: 0 : string ax[4] = {"none", "X", "Y", "Z"};
127 : :
128 [ # # ]: 0 : if (debug_lvl <= 0) return;
129 : :
130 [ # # ]: 0 : if (debug_lvl & 1) { // Standard console startup message output
131 [ # # ]: 0 : if (from == 0) { // Constructor
132 : 0 : cout << " Axis: " << ax[axis] << endl;
133 : : }
134 : : }
135 [ # # ]: 0 : if (debug_lvl & 2 ) { // Instantiation/Destruction notification
136 [ # # ]: 0 : if (from == 0) cout << "Instantiated: FGAccelerometer" << endl;
137 [ # # ]: 0 : if (from == 1) cout << "Destroyed: FGAccelerometer" << endl;
138 : : }
139 : 0 : if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
140 : : }
141 : 0 : if (debug_lvl & 8 ) { // Runtime state variables
142 : : }
143 : 0 : if (debug_lvl & 16) { // Sanity checking
144 : : }
145 [ # # ]: 0 : if (debug_lvl & 64) {
146 [ # # ]: 0 : if (from == 0) { // Constructor
147 : 0 : cout << IdSrc << endl;
148 : 0 : cout << IdHdr << endl;
149 : : }
150 [ # # ][ # # ]: 0 : }
[ # # ]
151 : : }
152 [ + + ][ + - ]: 12 : }
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