Gyroscope.h

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/*
Gyro model header file
 
Author: Alex Reynolds
*/
/*
Metadata for MS GUI:
imdata = {"displayname" : "Gyro",
          "exclude" : False,
          "category" : "Sensors"
}
aliases = {"bias_initial" : "Bias",
           "min_ang_vel" : "Minimum Ang. Vel.",
           "max_ang_vel" : "Maximum Ang. Vel.",
           "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",
           "latency" : "EXCLUDE",
           "gaussian_noise" : "Noise",
           "walking_bias_std" : "EXCLUDE",
           "scale_factor_std" : "EXCLUDE",
           "meas_ang_vel_sf" : "Meas. Ang. Vel.",
           "perfect_ang_vel_sf" : "EXCLUDE",
           "is_valid" : "Meas. Validity Flag",
           "operational_power_draw" : "Operational Power Draw",
           "mass" : "Mass",
           "current_power_draw" : "Current Power Draw",
}
*/
 
#ifndef MODELS_SENSORS_GYROSCOPE_H
#define MODELS_SENSORS_GYROSCOPE_H
 
#include "simulation/Model.h"
#include "constants/unitutils.h"
#include "models/support/MarkovUncertaintyModel.h"
#include "monitors/RateMonitor.h"
#include "utils/LatencyUtil.hpp"
 
namespace warptwin {


    struct _gyro_output_struct {
        CartesianVector3 meas_ang_vel_sf;
        CartesianVector3 bias;
        bool is_valid;
        // Default constuctor (should populate with model defualt outputs)
        _gyro_output_struct()
            : meas_ang_vel_sf(CartesianVector3({0.0, 0.0, 0.0})),
              bias(CartesianVector3({0.0, 0.0, 0.0})),
              is_valid(false) {}
        // Custom constructor
        _gyro_output_struct(CartesianVector3 meas_ang_vel_sf, CartesianVector3 bias, bool is_valid)
            : meas_ang_vel_sf(meas_ang_vel_sf),
              bias(bias),
              is_valid(is_valid) {}
    };
 
    MODEL(Gyroscope)
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            SIGNAL(bias_initial,            CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(min_ang_vel,             double,                 -540.0*warpos::DEGREES_TO_RADIANS)
            SIGNAL(max_ang_vel,             double,                 540.0*warpos::DEGREES_TO_RADIANS)
            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(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}))
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            SIGNAL(output_time,             clockwerk::Time,        clockwerk::Time(0, 0))
            SIGNAL(meas_ang_vel_sf,         CartesianVector3,         CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(perfect_ang_vel_sf,      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 _total_error;

        CartesianVector3 _previous_bias;

        CartesianVector3 _perturbed_ang_vel;

        std::array<bool, 3> _in_deadzone;

        LatencyUtil<_gyro_output_struct> _latency_model;

        _gyro_output_struct _last_output, _latency_return;
    };
 
}
 
#endif