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...

Message *	ProcessNextMessage (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

FGFCS *	fcs

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

FGPropertyManager *	PropertyManager

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/(fttomfttomfttom)

static double	Mair = 28.9645

static unsigned int	messageId = 0

static std::queue< Message >	Messages

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:

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description