IMU.h

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/*
IMU model header file
 
Author: Alex Reynolds
*/
/*
Metadata for MS GUI:
imdata = {"displayname" : "IMU",
          "exclude" : False,
          "category" : "Sensors"
}
aliases = {"accelerometer_bias_initial" : "Accelerometer Bias",
           "min_acceleration" : "Minimum Acceleration",
           "max_acceleration" : "Maximum Acceleration",
           "gyroscope_bias_initial" : "Gyro Bias",
           "min_ang_vel" : "Minimum Angular Velocity",
           "max_ang_vel" : "Maximum Angluar Velocity",
           "mount_frame" : "Spacecraft Body",
           "mount_position__mf" : "Body Mount Position",
           "mount_alignment_mf" : "Body Mount Alignment",
           "rate_hz" : "Rate Hz",
           "accelerometer_seed_value" : "EXCLUDE",
           "gyro_seed_value" : "EXCLUDE",
           "gravity_frame" : "Gravity Vector Frame",
           "accelerometer_resolution" : "EXCLUDE",
           "gyroscope_resolution" : "EXCLUDE",
           "latency" : "EXCLUDE",
           "accelerometer_gaussian_noise" : "Accelerometer Noise",
           "accelerometer_walking_bias_std" : "EXCLUDE",
           "accelerometer_scale_factor_std" : "EXCLUDE",
           "gyroscope_gaussian_noise" : "Gyro Noise",
           "gyroscope_walking_bias_std" : "EXCLUDE",
           "gyroscope_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",
           "meas_ang_vel_sf" : "Meas. Ang. Vel.",
           "perfect_ang_vel_sf" : "EXCLUDE",
           "accelerometer_is_valid" : "Accelerometer Meas. Validity Flag",
           "gyroscope_is_valid" : "Gyro Meas. Validity Flag",
           "accelerometer_operational_power_draw" : "Accelerometer Operational Power Draw",
           "gyro_operational_power_draw" : "Gyro Operational Power Draw",
           "mass" : "Mass",
           "accelerometer_current_power_draw" : "Accelerometer Current Power Draw",
           "gyro_current_power_draw" : "Gyro Current Power Draw",
}
*/
 
#ifndef MODELS_SENSORS_IMU_H
#define MODELS_SENSORS_IMU_H
 
#include "simulation/Model.h"
#include "models/sensors/Accelerometer.h"
#include "models/sensors/Gyroscope.h"
#include "constants/planetdefaults.h"
 
namespace warptwin {

    MODEL(IMU)
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            SIGNAL(accelerometer_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(gyroscope_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(rate_hz,                 int,                    0)
            SIGNAL(accelerometer_seed_value,int,                    0)
            SIGNAL(gyro_seed_value,         int,                    0)
            SIGNAL(gravity_frame,           Frame*,                nullptr)
            SIGNAL(accelerometer_resolution, double,                0.0)
            SIGNAL(gyroscope_resolution,    double,                 0.0)
            SIGNAL(latency,                 int,                    0)
            SIGNAL(accelerometer_operational_power_draw,  double,   0.0)
            SIGNAL(gyro_operational_power_draw,           double,   0.0)
            SIGNAL(mass,                    double,                 0.0)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
            SIGNAL(accelerometer_gaussian_noise,    CartesianVector3, CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(accelerometer_walking_bias_std,  CartesianVector3, CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(accelerometer_scale_factor_std,  CartesianVector3, CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(gyroscope_gaussian_noise,    CartesianVector3,  CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(gyroscope_walking_bias_std,  CartesianVector3,  CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(gyroscope_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(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(accelerometer_is_valid,  bool,                   false)
            SIGNAL(gyroscope_is_valid,      bool,                   false)
            SIGNAL(accelerometer_current_power_draw,     double,    0.0)
            SIGNAL(gyro_current_power_draw, double,                 0.0)
            SIGNAL(gyro_bias,               CartesianVector3,       CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(accel_bias,              CartesianVector3,       CartesianVector3({0.0, 0.0, 0.0}))
        END_OUTPUTS

        warptwin::Accelerometer* accelerometer() {return &_accelerometer;}

        warptwin::Gyroscope* Gyroscope() {return &_gyro;}
 
        // Activate amd deactivate functions call both the accelerometer and gyro active/deactive
        int16 activate() override;
        int16 deactivate() override;
 
        // Model-specific implementations of startup and derivative
    protected:
        int16 start() override;

        void _configureInternal();

        warptwin::Accelerometer _accelerometer;

        warptwin::Gyroscope _gyro;
    };
 
}
 
#endif