public override bool Run()
{
// There is no input assumed. This is a dedicated acceleration sensor.
vRadius = MassBalance.StructuralToBody(vLocation);
//aircraft forces
vAccel = (Accelerations.GetBodyAccel()
+ Accelerations.GetPQRidot() * vRadius
+ Propagate.GetPQRi() * (Propagate.GetPQRi() * vRadius));
// transform to the specified orientation
vAccel = sensorOrientation.mT * vAccel;
input = vAccel[sensorOrientation.axis - 1];
ProcessSensorSignal();
SetOutput();
return(true);
}
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);
}
private bool Allocate()
{
bool result = true;
models = new Model[(int)eModels.eNumStandardModels];
// First build the inertial model since some other models are relying on
// the inertial model and the ground callback to build themselves.
// Note that this does not affect the order in which the models will be
// executed later.
models[(int)eModels.eInertial] = new Inertial(this);
// See the eModels enum specification in the header file. The order of the
// enums specifies the order of execution. The Models[] vector is the primary
// storage array for the list of models.
models[(int)eModels.ePropagate] = new Propagate(this);
models[(int)eModels.eInput] = new Input(this);
models[(int)eModels.eAtmosphere] = new StandardAtmosphere(this);
models[(int)eModels.eWinds] = new Winds(this);
models[(int)eModels.eSystems] = new FlightControlSystem(this);
models[(int)eModels.eMassBalance] = new MassBalance(this);
models[(int)eModels.eAuxiliary] = new Auxiliary(this);
models[(int)eModels.ePropulsion] = new Propulsion(this);
models[(int)eModels.eAerodynamics] = new Aerodynamics(this);
models[(int)eModels.eGroundReactions] = new GroundReactions(this);
//PENDING new JSBSIM models[(int)eModels.eExternalReactions] = new ExternalReactions(this);
//PENDING new JSBSIM models[(int)eModels.eBuoyantForces] = new BuoyantForces(this);
models[(int)eModels.eAircraft] = new Aircraft(this);
models[(int)eModels.eAccelerations] = new Accelerations(this);
models[(int)eModels.eOutput] = new Output(this);
// Assign the Model shortcuts for internal executive use only.
propagate = (Propagate)models[(int)eModels.ePropagate];
inertial = (Inertial)models[(int)eModels.eInertial];
atmosphere = (Atmosphere)models[(int)eModels.eAtmosphere];
winds = (Winds)models[(int)eModels.eWinds];
FCS = (FlightControlSystem)models[(int)eModels.eSystems];
massBalance = (MassBalance)models[(int)eModels.eMassBalance];
auxiliary = (Auxiliary)models[(int)eModels.eAuxiliary];
propulsion = (Propulsion)models[(int)eModels.ePropulsion];
aerodynamics = (Aerodynamics)models[(int)eModels.eAerodynamics];
groundReactions = (GroundReactions)models[(int)eModels.eGroundReactions];
//PENDING new JSBSIM externalReactions = (ExternalReactions)models[(int)eModels.eExternalReactions];
//PENDING new JSBSIM buoyantForces = (BuoyantForces)models[(int)eModels.eBuoyantForces];
aircraft = (Aircraft)models[(int)eModels.eAircraft];
accelerations = (Accelerations)models[(int)eModels.eAccelerations];
//PENDING new JSBSIM output = (Output)models[(int)eModels.eOutput];
// Initialize planet (environment) constants
LoadPlanetConstants();
// Initialize models
for (int i = 0; i < models.Length; i++)
{
// The Input/Output models must not be initialized prior to IC loading
if (i == (int)eModels.eInput || i == (int)eModels.eOutput)
{
continue;
}
//PENDING new JSBSIM LoadInputs(i);
if (models[i] != null)
{
models[i].InitModel();
}
}
ic = new InitialCondition(this);
ic.Bind(instance);
modelLoaded = false;
return(result);
//---------------------- old code pending
#if DELETEME
bool result = true;
massBalance = new MassBalance(this);
//output = new Output(this);
input = new Input(this);
//TODO groundCallback = new DefaultGroundCallback();
state = new State(this); // This must be done here, as the State
// class needs valid pointers to the above model classes
// Initialize models so they can communicate with each other
if (!atmosphere.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Atmosphere model init failed");
}
error += 1;
}
if (!FCS.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("FCS model init failed");
}
error += 2;
}
if (!propulsion.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Propulsion model init failed");
}
error += 4;
}
if (!massBalance.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("MassBalance model init failed");
}
error += 8;
}
if (!aerodynamics.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Aerodynamics model init failed");
}
error += 16;
}
if (!inertial.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Inertial model init failed");
}
error += 32;
}
if (!groundReactions.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Ground Reactions model init failed");
}
error += 64;
}
if (!aircraft.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Aircraft model init failed");
}
error += 128;
}
if (!propagate.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Propagate model init failed");
}
error += 256;
}
if (!auxiliary.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Auxiliary model init failed");
}
error += 512;
}
if (!input.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Intput model init failed");
}
error += 1024;
}
if (error > 0)
{
result = false;
}
ic = new InitialCondition(this);
// Schedule a model. The second arg (the integer) is the pass number. For
// instance, the atmosphere model gets executed every fifth pass it is called
// by the executive. Everything else here gets executed each pass.
// IC and Trim objects are NOT scheduled.
Schedule(input, 1);
Schedule(atmosphere, 1);
Schedule(FCS, 1);
Schedule(propulsion, 1);
Schedule(massBalance, 1);
Schedule(aerodynamics, 1);
Schedule(inertial, 1);
Schedule(groundReactions, 1);
Schedule(aircraft, 1);
Schedule(propagate, 1);
Schedule(auxiliary, 1);
//Schedule(output, 1);
modelLoaded = false;
return(result);
#endif
}
private bool Allocate()
{
bool result = true;
atmosphere = new Atmosphere(this);
propulsion = new Propulsion(this);
aerodynamics = new Aerodynamics(this);
FCS = new FlightControlSystem(this);
groundReactions = new GroundReactions(this);
inertial = new Inertial(this);
massBalance = new MassBalance(this);
propagate = new Propagate(this);
auxiliary = new Auxiliary(this);
aircraft = new Aircraft(this);
//output = new Output(this);
input = new Input(this);
groundCallback = new GroundCallback();
state = new State(this); // This must be done here, as the State
// class needs valid pointers to the above model classes
// Initialize models so they can communicate with each other
if (!atmosphere.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Atmosphere model init failed");
}
error += 1;
}
if (!FCS.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("FCS model init failed");
}
error += 2;
}
if (!propulsion.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Propulsion model init failed");
}
error += 4;
}
if (!massBalance.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("MassBalance model init failed");
}
error += 8;
}
if (!aerodynamics.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Aerodynamics model init failed");
}
error += 16;
}
if (!inertial.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Inertial model init failed");
}
error += 32;
}
if (!groundReactions.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Ground Reactions model init failed");
}
error += 64;
}
if (!aircraft.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Aircraft model init failed");
}
error += 128;
}
if (!propagate.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Propagate model init failed");
}
error += 256;
}
if (!auxiliary.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Auxiliary model init failed");
}
error += 512;
}
if (!input.InitModel())
{
if (log.IsErrorEnabled)
{
log.Error("Intput model init failed");
}
error += 1024;
}
if (error > 0)
{
result = false;
}
ic = new InitialCondition(this);
// Schedule a model. The second arg (the integer) is the pass number. For
// instance, the atmosphere model gets executed every fifth pass it is called
// by the executive. Everything else here gets executed each pass.
// IC and Trim objects are NOT scheduled.
Schedule(input, 1);
Schedule(atmosphere, 1);
Schedule(FCS, 1);
Schedule(propulsion, 1);
Schedule(massBalance, 1);
Schedule(aerodynamics, 1);
Schedule(inertial, 1);
Schedule(groundReactions, 1);
Schedule(aircraft, 1);
Schedule(propagate, 1);
Schedule(auxiliary, 1);
//Schedule(output, 1);
modelLoaded = false;
return(result);
}