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1 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2 : :
3 : : Header: FGSensor.h
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 : : HISTORY
27 : : --------------------------------------------------------------------------------
28 : :
29 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
30 : : SENTRY
31 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
32 : :
33 : : #ifndef FGSENSOR_H
34 : : #define FGSENSOR_H
35 : :
36 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
37 : : INCLUDES
38 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
39 : :
40 : : #include "FGFCSComponent.h"
41 : : #include <string>
42 : :
43 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
44 : : DEFINITIONS
45 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
46 : :
47 : : #define ID_SENSOR "$Id: FGSensor.h,v 1.19 2009/10/24 22:59:30 jberndt Exp $"
48 : :
49 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
50 : : FORWARD DECLARATIONS
51 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
52 : :
53 : : namespace JSBSim {
54 : :
55 : : class FGFCS;
56 : : class Element;
57 : :
58 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
59 : : CLASS DOCUMENTATION
60 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
61 : :
62 : : /** Encapsulates a Sensor component for the flight control system.
63 : :
64 : : Syntax:
65 : :
66 : : @code
67 : : <sensor name="name">
68 : : <input> property </input>
69 : : <lag> number </lag>
70 : : <noise variation="PERCENT|ABSOLUTE"> number </noise>
71 : : <quantization name="name">
72 : : <bits> number </bits>
73 : : <min> number </min>
74 : : <max> number </max>
75 : : </quantization>
76 : : <drift_rate> number </drift_rate>
77 : : <bias> number </bias>
78 : : <delay> number < /delay>
79 : : </sensor>
80 : : @endcode
81 : :
82 : : Example:
83 : :
84 : : @code
85 : : <sensor name="aero/sensor/qbar">
86 : : <input> aero/qbar </input>
87 : : <lag> 0.5 </lag>
88 : : <noise variation="PERCENT"> 2 </noise>
89 : : <quantization name="aero/sensor/quantized/qbar">
90 : : <bits> 12 </bits>
91 : : <min> 0 </min>
92 : : <max> 400 </max>
93 : : </quantization>
94 : : <bias> 0.5 </bias>
95 : : </sensor>
96 : : @endcode
97 : :
98 : : The only required element in the sensor definition is the input element. In that
99 : : case, no degradation would be modeled, and the output would simply be the input.
100 : :
101 : : For noise, if the type is PERCENT, then the value supplied is understood to be a
102 : : percentage variance. That is, if the number given is 0.05, the the variance is
103 : : understood to be +/-0.05 percent maximum variance. So, the actual value for the sensor
104 : : will be *anywhere* from 0.95 to 1.05 of the actual "perfect" value at any time -
105 : : even varying all the way from 0.95 to 1.05 in adjacent frames - whatever the delta
106 : : time. The delay element can specify a frame delay. The integer number provided is
107 : : the number of frames to delay the output signal.
108 : :
109 : : @author Jon S. Berndt
110 : : @version $Revision: 1.19 $
111 : : */
112 : :
113 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
114 : : CLASS DECLARATION
115 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
116 : :
117 : : class FGSensor : public FGFCSComponent
118 : : {
119 : : public:
120 : : FGSensor(FGFCS* fcs, Element* element);
121 : : virtual ~FGSensor();
122 : :
123 [ # # ]: 0 : void SetFailLow(double val) {if (val > 0.0) fail_low = true; else fail_low = false;}
124 [ # # ]: 0 : void SetFailHigh(double val) {if (val > 0.0) fail_high = true; else fail_high = false;}
125 [ # # ]: 0 : void SetFailStuck(double val) {if (val > 0.0) fail_stuck = true; else fail_stuck = false;}
126 : :
127 [ # # ]: 0 : double GetFailLow(void) const {if (fail_low) return 1.0; else return 0.0;}
128 [ # # ]: 0 : double GetFailHigh(void) const {if (fail_high) return 1.0; else return 0.0;}
129 [ # # ]: 0 : double GetFailStuck(void) const {if (fail_stuck) return 1.0; else return 0.0;}
130 : 0 : int GetQuantized(void) const {return quantized;}
131 : :
132 : : virtual bool Run (void);
133 : :
134 : : protected:
135 : : enum eNoiseType {ePercent=0, eAbsolute} NoiseType;
136 : : enum eDistributionType {eUniform=0, eGaussian} DistributionType;
137 : : double min, max;
138 : : double span;
139 : : double bias;
140 : : double gain;
141 : : double drift_rate;
142 : : double drift;
143 : : double noise_variance;
144 : : double lag;
145 : : double granularity;
146 : : double ca; /// lag filter coefficient "a"
147 : : double cb; /// lag filter coefficient "b"
148 : : double PreviousOutput;
149 : : double PreviousInput;
150 : : int noise_type;
151 : : int bits;
152 : : int quantized;
153 : : int divisions;
154 : : bool fail_low;
155 : : bool fail_high;
156 : : bool fail_stuck;
157 : : std::string quant_property;
158 : :
159 : : void ProcessSensorSignal(void);
160 : : void Noise(void);
161 : : void Bias(void);
162 : : void Drift(void);
163 : : void Quantize(void);
164 : : void Lag(void);
165 : : void Gain(void);
166 : :
167 : : void bind(void);
168 : :
169 : : private:
170 : : void Debug(int from);
171 : : };
172 : : }
173 : : #endif
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