Branch data Line data Source code
1 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2 : :
3 : : Module: FGGyro.cpp
4 : : Author: Jon Berndt
5 : : Date started: 29 August 2009
6 : :
7 : : ------------- Copyright (C) 2009 -------------
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 "FGGyro.h"
41 : : #include <iostream>
42 : :
43 : : using namespace std;
44 : :
45 : : namespace JSBSim {
46 : :
47 : : static const char *IdSrc = "$Id: FGGyro.cpp,v 1.5 2009/10/24 22:59:30 jberndt Exp $";
48 : : static const char *IdHdr = ID_GYRO;
49 : :
50 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
51 : : CLASS IMPLEMENTATION
52 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
53 : :
54 : 0 : FGGyro::FGGyro(FGFCS* fcs, Element* element) : FGSensor(fcs, element),
55 : 0 : FGSensorOrientation(element)
56 : : {
57 : 0 : Propagate = fcs->GetExec()->GetPropagate();
58 : :
59 : 0 : Debug(0);
60 : 0 : }
61 : :
62 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
63 : :
64 : 0 : FGGyro::~FGGyro()
65 : : {
66 : 0 : Debug(1);
67 [ # # ][ # # ]: 0 : }
[ # # ]
68 : :
69 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
70 : :
71 : 0 : bool FGGyro::Run(void )
72 : : {
73 : : // There is no input assumed. This is a dedicated angular acceleration sensor.
74 : :
75 : : //aircraft rates
76 : 0 : vAccel = mT * Propagate->GetPQRdot();
77 : :
78 : 0 : Input = vAccel(axis);
79 : :
80 : 0 : ProcessSensorSignal();
81 : :
82 : 0 : return true;
83 : : }
84 : :
85 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
86 : : // The bitmasked value choices are as follows:
87 : : // unset: In this case (the default) JSBSim would only print
88 : : // out the normally expected messages, essentially echoing
89 : : // the config files as they are read. If the environment
90 : : // variable is not set, debug_lvl is set to 1 internally
91 : : // 0: This requests JSBSim not to output any messages
92 : : // whatsoever.
93 : : // 1: This value explicity requests the normal JSBSim
94 : : // startup messages
95 : : // 2: This value asks for a message to be printed out when
96 : : // a class is instantiated
97 : : // 4: When this value is set, a message is displayed when a
98 : : // FGModel object executes its Run() method
99 : : // 8: When this value is set, various runtime state variables
100 : : // are printed out periodically
101 : : // 16: When set various parameters are sanity checked and
102 : : // a message is printed out when they go out of bounds
103 : :
104 : 0 : void FGGyro::Debug(int from)
105 : : {
106 [ # # ][ # # ]: 0 : string ax[4] = {"none", "X", "Y", "Z"};
107 : :
108 [ # # ]: 0 : if (debug_lvl <= 0) return;
109 : :
110 [ # # ]: 0 : if (debug_lvl & 1) { // Standard console startup message output
111 [ # # ]: 0 : if (from == 0) { // Constructor
112 : 0 : cout << " Axis: " << ax[axis] << endl;
113 : : }
114 : : }
115 [ # # ]: 0 : if (debug_lvl & 2 ) { // Instantiation/Destruction notification
116 [ # # ]: 0 : if (from == 0) cout << "Instantiated: FGGyro" << endl;
117 [ # # ]: 0 : if (from == 1) cout << "Destroyed: FGGyro" << endl;
118 : : }
119 : 0 : if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
120 : : }
121 : 0 : if (debug_lvl & 8 ) { // Runtime state variables
122 : : }
123 : 0 : if (debug_lvl & 16) { // Sanity checking
124 : : }
125 [ # # ]: 0 : if (debug_lvl & 64) {
126 [ # # ]: 0 : if (from == 0) { // Constructor
127 : 0 : cout << IdSrc << endl;
128 : 0 : cout << IdHdr << endl;
129 : : }
130 [ # # ][ # # ]: 0 : }
[ # # ]
131 : : }
132 [ + + ][ + - ]: 12 : }
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