Branch data Line data Source code
1 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2 : :
3 : : Module: FGMagnetometer.cpp
4 : : Author: Matthew Chave
5 : : Date started: 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 "FGMagnetometer.h"
41 : : #include "simgear/magvar/coremag.hxx"
42 : : #include <ctime>
43 : : #include <cstdlib>
44 : : #include <iostream>
45 : :
46 : : using namespace std;
47 : :
48 : : namespace JSBSim {
49 : :
50 : : static const char *IdSrc = "$Id: FGMagnetometer.cpp,v 1.5 2009/10/24 22:59:30 jberndt Exp $";
51 : : static const char *IdHdr = ID_MAGNETOMETER;
52 : :
53 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
54 : : CLASS IMPLEMENTATION
55 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
56 : :
57 : :
58 : 0 : FGMagnetometer::FGMagnetometer(FGFCS* fcs, Element* element) : FGSensor(fcs, element),
59 : : FGSensorOrientation(element),
60 : : counter(0),
61 : 0 : INERTIAL_UPDATE_RATE(1000)
62 : : {
63 : 0 : Propagate = fcs->GetExec()->GetPropagate();
64 : 0 : MassBalance = fcs->GetExec()->GetMassBalance();
65 : 0 : Inertial = fcs->GetExec()->GetInertial();
66 : :
67 : 0 : Element* location_element = element->FindElement("location");
68 [ # # ][ # # ]: 0 : if (location_element) vLocation = location_element->FindElementTripletConvertTo("IN");
69 : 0 : else {cerr << "No location given for magnetometer. " << endl; exit(-1);}
70 : :
71 : 0 : vRadius = MassBalance->StructuralToBody(vLocation);
72 : :
73 : : //assuming date wont significantly change over a flight to affect mag field
74 : : //would be better to get the date from the sim if its simulated...
75 : : time_t rawtime;
76 : 0 : time( &rawtime );
77 : 0 : tm * ptm = gmtime ( &rawtime );
78 : :
79 : 0 : int year = ptm->tm_year;
80 [ # # # # ]: 0 : if(year>100)
81 : : {
82 : 0 : year-= 100;
83 : : }
84 : : //the months here are zero based TODO find out if the function expects 1s based
85 : 0 : date = (yymmdd_to_julian_days(ptm->tm_year,ptm->tm_mon,ptm->tm_mday));//Julian 1950-2049 yy,mm,dd
86 : 0 : updateInertialMag();
87 : :
88 : 0 : Debug(0);
89 : 0 : }
90 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
91 : :
92 : 0 : FGMagnetometer::~FGMagnetometer()
93 : : {
94 : 0 : Debug(1);
95 [ # # ][ # # ]: 0 : }
[ # # ]
96 : :
97 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
98 : 0 : void FGMagnetometer::updateInertialMag(void)
99 : : {
100 : 0 : counter++;
101 [ # # ]: 0 : if (counter > INERTIAL_UPDATE_RATE)//dont need to update every iteration
102 : : {
103 : 0 : counter = 0;
104 : :
105 : 0 : usedLat = (Propagate->GetGeodLatitudeRad());//radians, N and E lat and long are positive, S and W negative
106 : 0 : usedLon = (Propagate->GetLongitude());//radians
107 : 0 : usedAlt = (Propagate->GetGeodeticAltitude()*fttom*0.001);//km
108 : :
109 : : //this should be done whenever the position changes significantly (in nTesla)
110 : : calc_magvar( usedLat,
111 : : usedLon,
112 : : usedAlt,
113 : : date,
114 : 0 : field );
115 : : }
116 : 0 : }
117 : :
118 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
119 : :
120 : 0 : bool FGMagnetometer::Run(void )
121 : : {
122 : : // There is no input assumed. This is a dedicated magnetic field sensor.
123 : :
124 : 0 : vRadius = MassBalance->StructuralToBody(vLocation);
125 : :
126 : 0 : updateInertialMag();
127 : :
128 : : // Inertial magnetic field rotated to the body frame
129 : 0 : vMag = Propagate->GetTl2b() * FGColumnVector3(field[3], field[4], field[5]);
130 : :
131 : : // Allow for sensor orientation
132 : 0 : vMag = mT * vMag;
133 : :
134 : 0 : Input = vMag(axis);
135 : :
136 : 0 : ProcessSensorSignal();
137 : :
138 : 0 : return true;
139 : : }
140 : :
141 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
142 : : // The bitmasked value choices are as follows:
143 : : // unset: In this case (the default) JSBSim would only print
144 : : // out the normally expected messages, essentially echoing
145 : : // the config files as they are read. If the environment
146 : : // variable is not set, debug_lvl is set to 1 internally
147 : : // 0: This requests JSBSim not to output any messages
148 : : // whatsoever.
149 : : // 1: This value explicity requests the normal JSBSim
150 : : // startup messages
151 : : // 2: This value asks for a message to be printed out when
152 : : // a class is instantiated
153 : : // 4: When this value is set, a message is displayed when a
154 : : // FGModel object executes its Run() method
155 : : // 8: When this value is set, various runtime state variables
156 : : // are printed out periodically
157 : : // 16: When set various parameters are sanity checked and
158 : : // a message is printed out when they go out of bounds
159 : :
160 : 0 : void FGMagnetometer::Debug(int from)
161 : : {
162 [ # # ][ # # ]: 0 : string ax[4] = {"none", "X", "Y", "Z"};
163 : :
164 [ # # ]: 0 : if (debug_lvl <= 0) return;
165 : :
166 [ # # ]: 0 : if (debug_lvl & 1) { // Standard console startup message output
167 [ # # ]: 0 : if (from == 0) { // Constructor
168 : 0 : cout << " Axis: " << ax[axis] << endl;
169 : : }
170 : : }
171 [ # # ]: 0 : if (debug_lvl & 2 ) { // Instantiation/Destruction notification
172 [ # # ]: 0 : if (from == 0) cout << "Instantiated: FGMagnetometer" << endl;
173 [ # # ]: 0 : if (from == 1) cout << "Destroyed: FGMagnetometer" << endl;
174 : : }
175 : 0 : if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
176 : : }
177 : 0 : if (debug_lvl & 8 ) { // Runtime state variables
178 : : }
179 : 0 : if (debug_lvl & 16) { // Sanity checking
180 : : }
181 [ # # ]: 0 : if (debug_lvl & 64) {
182 [ # # ]: 0 : if (from == 0) { // Constructor
183 : 0 : cout << IdSrc << endl;
184 : 0 : cout << IdHdr << endl;
185 : : }
186 [ # # ][ # # ]: 0 : }
[ # # ]
187 : : }
188 [ + + ][ + - ]: 12 : }
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