Gyro(FlightControlSystem fcs, XmlElement element)
: base(fcs, element)
{
sensorOrientation = new SensorOrientation(element);
Propagate = fcs.GetExec().GetPropagate();
Debug(0);
}
public Accelerometer(FlightControlSystem fcs, XmlElement element)
: base(fcs, element)
{
sensorOrientation = new SensorOrientation(element);
Propagate = fcs.GetExec().GetPropagate();
Accelerations = fcs.GetExec().Accelerations;
MassBalance = fcs.GetExec().MassBalance;
XmlElement location_element = element.FindElement("location");
if (location_element != null)
{
vLocation = FormatHelper.TripletConvertTo(location_element, "IN");
}
else
{
log.Error("No location given for accelerometer. ");
throw new Exception("Malformed accelerometer specification");
}
vRadius = MassBalance.StructuralToBody(vLocation);
Debug(0);
}
public FCSFunction(FlightControlSystem fcs, XmlElement element)
: base(fcs, element)
{
XmlElement function_element = element.FindElement("function");
if (function_element != null)
{
function = new Function(fcs.GetExec(), function_element);
}
else
{
log.Error("FCS Function should contain a \"function\" element");
throw new Exception("Malformed FCS function specification.");
}
Bind(element);
Debug(0);
}
public Waypoint(FlightControlSystem fcs, XmlElement element) : base(fcs, element)
{
if (compType == "WAYPOINT_HEADING")
{
WaypointType = eWaypointType.eHeading;
}
else if (compType == "WAYPOINT_DISTANCE")
{
WaypointType = eWaypointType.eDistance;
}
target_latitude_unit = 1.0;
target_longitude_unit = 1.0;
source_latitude_unit = 1.0;
source_longitude_unit = 1.0;
source = fcs.GetExec().GetIC().GetPosition();
if (element.FindElement("target_latitude") != null)
{
target_latitude = new PropertyValue(element.FindElementValue("target_latitude"),
propertyManager);
if (element.FindElement("target_latitude").HasAttribute("unit"))
{
if (element.FindElement("target_latitude").GetAttribute("unit") == "DEG")
{
target_latitude_unit = 0.017453293;
}
}
}
else
{
log.Error("Target latitude is required for waypoint component: " + name);
throw new Exception("Malformed waypoint definition");
}
if (element.FindElement("target_longitude") != null)
{
target_longitude = new PropertyValue(element.FindElementValue("target_longitude"),
propertyManager);
if (element.FindElement("target_longitude").HasAttribute("unit"))
{
if (element.FindElement("target_longitude").GetAttribute("unit") == "DEG")
{
target_longitude_unit = 0.017453293;
}
}
}
else
{
log.Error("Target longitude is required for waypoint component: " + name);
throw new Exception("Malformed waypoint definition");
}
if (element.FindElement("source_latitude") != null)
{
source_latitude = new PropertyValue(element.FindElementValue("source_latitude"),
propertyManager);
if (element.FindElement("source_latitude").HasAttribute("unit"))
{
if (element.FindElement("source_latitude").GetAttribute("unit") == "DEG")
{
source_latitude_unit = 0.017453293;
}
}
}
else
{
log.Error("Source latitude is required for waypoint component: " + name);
throw new Exception("Malformed waypoint definition");
}
if (element.FindElement("source_longitude") != null)
{
source_longitude = new PropertyValue(element.FindElementValue("source_longitude"),
propertyManager);
if (element.FindElement("source_longitude").HasAttribute("unit"))
{
if (element.FindElement("source_longitude").GetAttribute("unit") == "DEG")
{
source_longitude_unit = 0.017453293;
}
}
}
else
{
log.Error("Source longitude is required for waypoint component: " + name);
throw new Exception("Malformed waypoint definition");
}
if (element.FindElement("radius") != null)
{
XmlElement elem = element.FindElement("radius");
radius = FormatHelper.ValueAsNumberConvertTo(elem, "FT");
}
else
{
radius = -1.0;
}
unit = element.GetAttribute("unit");
if (WaypointType == eWaypointType.eHeading)
{
if (!string.IsNullOrEmpty(unit))
{
if (unit == "DEG")
{
eUnit = eUnitType.eDeg;
}
else if (unit == "RAD")
{
eUnit = eUnitType.eRad;
}
else
{
log.Error("Unknown unit " + unit + " in HEADING waypoint component, "
+ name);
throw new Exception("Malformed waypoint definition");
}
}
else
{
eUnit = eUnitType.eRad; // Default is radians if unspecified
}
}
else
{
if (!string.IsNullOrEmpty(unit))
{
if (unit == "FT")
{
eUnit = eUnitType.eFeet;
}
else if (unit == "M")
{
eUnit = eUnitType.eMeters;
}
else
{
log.Error("Unknown unit " + unit + " in DISTANCE waypoint component, "
+ name);
throw new Exception("Malformed waypoint definition");
}
}
else
{
eUnit = eUnitType.eFeet; // Default is feet if unspecified
}
}
Bind(element);
Debug(0);
}