Accelerometer.h

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/*
Accelerometer model header file
 
Author: Alex Reynolds
*/
/*
Metadata for MS GUI:
imdata = {"displayname" : "Accelerometer",
          "exclude" : False,
          "category" : "Sensors"
}
aliases = {"bias_initial" : "Bias",
           "min_acceleration" : "Minimum Acceleration",
           "max_acceleration" : "Maximum Acceleration",
           "mount_frame" : "Spacecraft Body",
           "mount_position__mf" : "Body Mount Position",
           "mount_alignment_mf" : "Body Mount Alignment",
           "resolution" : "EXCLUDE",
           "rate_hz" : "Rate Hz",
           "seed_value" : "EXCLUDE",
           "gravity_frame" : "Gravity Vector Frame",
           "latency" : "EXCLUDE",
           "gaussian_noise" : "Noise",
           "walking_bias_std" : "EXCLUDE",
           "scale_factor_std" : "EXCLUDE",
           "gravity__gf" : "Gravity Vector",
           "meas_accel_sf" : "Meas. Acceleration",
           "perfect_accel_sf" : "EXCLUDE",
           "meas_accel_sf_incl_grav" : "EXCLUDE",
           "perfect_accel_sf_incl_grav" : "EXCLUDE",
           "is_valid" : "Meas. Validity Flag",
           "operational_power_draw" : "Operational Power Draw",
           "mass" : "Mass",
           "current_power_draw" : "Current Power Draw",
}
*/
 
#ifndef MODELS_SENSORS_ACCELEROMETER_H
#define MODELS_SENSORS_ACCELEROMETER_H
 
#include "simulation/Model.h"
#include "frames/Frame.h"
#include "models/support/MarkovUncertaintyModel.h"
#include "monitors/RateMonitor.h"
#include "core/CartesianVector.hpp"
#include "constants/planetdefaults.h"
#include "utils/LatencyUtil.hpp"
 
namespace warptwin {


    struct _accel_output_struct {
        CartesianVector3 meas_accel_sf;
        CartesianVector3 meas_accel_sf_incl_grav;
        CartesianVector3 bias;
        bool is_valid;
        // Default constuctor (should populate with model defualt outputs)
        _accel_output_struct()
            : meas_accel_sf(CartesianVector3({0.0, 0.0, 0.0})),
              meas_accel_sf_incl_grav(CartesianVector3({0.0, 0.0, 0.0})),
              bias(CartesianVector3({0.0, 0.0, 0.0})),
              is_valid(false) {}
        // Custom constructor
        _accel_output_struct(CartesianVector3 meas_accel_sf, CartesianVector3 meas_accel_sf_incl_grav, CartesianVector3 bias, bool is_valid)
            : meas_accel_sf(meas_accel_sf),
              meas_accel_sf_incl_grav(meas_accel_sf_incl_grav),
              bias(bias),
              is_valid(is_valid) {}
    };
 
    MODEL(Accelerometer)
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            SIGNAL(bias_initial,            CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(min_acceleration,        double,                 -20.0*warpos::earth_wgs84.mean_gravity)
            SIGNAL(max_acceleration,        double,                 20.0*warpos::earth_wgs84.mean_gravity)
            SIGNAL(mount_frame,             Frame*,                nullptr)
            SIGNAL(mount_position__mf,      CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(mount_alignment_mf,      clockwerk::Quaternion, clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))
            SIGNAL(resolution,              double,                 0.0)
            SIGNAL(rate_hz,                 int,                    0)
            SIGNAL(seed_value,              int,                    0)
            SIGNAL(gravity_frame,           Frame*,                nullptr)
            SIGNAL(latency,                 int,                    0)
            SIGNAL(operational_power_draw,  double,                 0.0)
            SIGNAL(mass,                    double,                 0.0)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
            SIGNAL(gaussian_noise,          CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(walking_bias_std,        CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(scale_factor_std,        CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(gravity__gf,             CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
        END_INPUTS 
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            SIGNAL(output_time,             clockwerk::Time,        clockwerk::Time(0, 0))
            SIGNAL(meas_accel_sf,           CartesianVector3,       CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(perfect_accel_sf,        CartesianVector3,       CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(meas_accel_sf_incl_grav, CartesianVector3,       CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(perfect_accel_sf_incl_grav,CartesianVector3,     CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(is_valid,                bool,                   false)
            SIGNAL(current_power_draw,      double,                 0.0)
            SIGNAL(bias,                    CartesianVector3,       CartesianVector3({0.0, 0.0, 0.0}))
        END_OUTPUTS

        clockwerk::DataIO<Frame*> sensor_frame = clockwerk::DataIO<Frame*>(this, "sensor_frame", &_sensor_frame);

        warptwin::MarkovUncertaintyModel* getNoiseModel() {return &_sensor_noise_model;}

        warptwin::RateMonitor* rateMonitor() {return &_rate_monitor;}
 
        int16 activate() override;
        int16 deactivate() override;
        
    protected:
        int16 start() override;
        int16 execute() override;

        void _configureInternal();

        Frame _sensor_frame;

        MarkovUncertaintyModel _sensor_noise_model;

        RateMonitor _rate_monitor;

        CartesianVector3 _previous_bias;

        CartesianVector3 _perturbed_accel, _perturbed_accel_no_grav;

        clockwerk::DCM _dcm_sf_root;

        CartesianVector3 _gravity__sensor;

        clockwerk::CartesianVector<3> _in_deadzone;

        LatencyUtil<_accel_output_struct> _latency_model;

        _accel_output_struct _last_output, _latency_return;
    };
 
}
 
#endif