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irs_computer.h
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irs_computer.h
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/*******************************************************************
*
* DESCRIPTION: IRS Computer Navigation Avionics Atomic Model
*
* AUTHOR: Ken Edwards
*
* EMAIL: ken@kje.ca
*
* DATE: November 2009
*
*******************************************************************/
#ifndef __IRS_H
#define __IRS_H
#define IRS_STATE_OFF 0
#define IRS_STATE_ALIGN 1
#define IRS_STATE_ALIGN_WAITING_FOR_GYROS 2
#define IRS_STATE_NAV 3
#define IRS_STATE_HYBRID 4
#define POWER_OFF 0
#define POWER_ON 1
#define GPS_RATE .05
#define SENTINAL -9999
#include "atomic.h" // class Atomic
class IRScomputer : public Atomic
{
public:
IRScomputer( const string &name = "IRScomputer" ); //Default constructor
virtual string className() const ;
protected:
Model &initFunction();
Model &externalFunction( const ExternalMessage & );
Model &internalFunction( const InternalMessage & );
Model &outputFunction( const InternalMessage & );
private:
const Port &port_in_power ;
const Port &port_in_gyro_x ;
const Port &port_in_gyro_y ;
const Port &port_in_gyro_z ;
const Port &port_in_gps_x ;
const Port &port_in_gps_y ;
const Port &port_in_gps_z ;
Port &port_out_irs_x;
Port &port_out_irs_y;
Port &port_out_irs_z;
//int output_time_delay ; // 20 Hz
int irs_state ;
int irs_x_value ;
int irs_y_value ;
int irs_z_value ;
int irs_gyro_x ;
int irs_gyro_y ;
int irs_gyro_z ;
int irs_gps_x ;
int irs_gps_y ;
int irs_gps_z ;
Time irs_output_period ;
Time irs_align_period ;
Time irs_last_gps_received_time ;
Time irs_cur_gps_received_time ;
Time irs_total_valid_gps_time ;
Time irs_local_gps_delta_time ;
Time irs_consec_gps_time_needed_for_hybrid ;
Time gps_output_period ;
}; // class IRS
// ** inline ** //
inline
string IRScomputer::className() const
{
return "IRScomputer" ;
}
#endif //__IRS_H