23765596749

Committed 30 Mar 2026 08:15PM UTC coverage: 70.201% (-0.05%) from 70.246%

Build # 23765596749

Build Type

push

github

Committed by

MissionEngineeringLtd

Commit Message

Merge branch 'main' of https://github.com/MissionEngineeringLtd/MissionEngineeringToolbox

Coverage Stats

100 of 164 branches covered (60.98%)

Branch coverage included in aggregate %.

1297 of 1826 relevant lines covered (71.03%)

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86.15

/MissionEngineering.Platform/Source/PlatformModel.cs

﻿using MissionEngineering.Math;

namespace MissionEngineering.Platform;

public class PlatformModel
{
    public ILLAOrigin LLAOrigin { get; set; }

    public PlatformModel(ILLAOrigin llaOrigin)
    {
        LLAOrigin = llaOrigin;
    }

    public PlatformState Update(DateTime dateTime, double time_s, PlatformState platformState)
    {
        var deltaTime = time_s - platformState.Time_s;

        var dt = new DeltaTime(deltaTime);

        var accelerationTBA = GetAccelerationTBA();

        var accelerationNED = GetAccelerationNED(accelerationTBA, platformState.Attitude);

        var velocityNED = platformState.VelocityNED + accelerationNED * dt;
        var positionNED = platformState.PositionNED + velocityNED * dt;

        var positionLLA = MappingConversions.ConvertPositionNEDToPositionLLA(positionNED, LLAOrigin.PositionLLA);

        var attitude = FrameConversions.GetAttitudeFromVelocityVector(platformState.VelocityNED);
        var attitudeRate = GetAttitudeRate(platformState.Attitude, attitude, dt);

        var ps = platformState with
        {
            DateTime = dateTime,
            Time_s = time_s,
            PositionLLA = positionLLA,
            PositionNED = positionNED,
            VelocityNED = velocityNED,
            AccelerationNED = accelerationNED,
            AccelerationTBA = accelerationTBA,
            Attitude = attitude,
            AttitudeRate = attitudeRate
        };

        return ps;
    }

    public AccelerationTBA GetAccelerationTBA()
    {
        var accelerationTBA = new AccelerationTBA
        {
            AccelerationAxial_ms2 = 0.0,
            AccelerationLateral_ms2 = 0.0,
            AccelerationVertical_ms2 = 0.0
        };

        return accelerationTBA;
    }

    public AccelerationNED GetAccelerationNED(AccelerationTBA accelerationTBA, Attitude attitude)
    {
        var accelerationNED = FrameConversions.GetAccelerationNED(accelerationTBA, attitude);

        return accelerationNED;
    }

    public Attitude GetAttitude()
    {
        var attitude = new Attitude
        {
            HeadingAngle_deg = 0.0,
            BankAngle_deg = 0.0,
            PitchAngle_deg = 0.0,
        };

        return attitude;
    }

    public AttitudeRate GetAttitudeRate(Attitude attitudePrevious, Attitude attitudeCurrent, DeltaTime deltaTime_s)
    {
        if (deltaTime_s.DeltaTime_s == 0.0)
        {
            return new AttitudeRate
            {
                HeadingAngleRate_degs = 0.0,
                PitchAngleRate_degs = 0.0,
                BankAngleRate_degs = 0.0
            };
        }

        var attitudeRate = (attitudeCurrent - attitudePrevious) / deltaTime_s;

        return attitudeRate;
    }
}

1	using MissionEngineering.Math;
2
3	namespace MissionEngineering.Platform;
4
5	public class PlatformModel
6	{
7	public ILLAOrigin LLAOrigin { get; set; }	3,804✔
8
9	public PlatformModel(ILLAOrigin llaOrigin)	2✔
10	{	2✔
11	LLAOrigin = llaOrigin;	2✔
12	}	2✔
13
14	public PlatformState Update(DateTime dateTime, double time_s, PlatformState platformState)
15	{	3,802✔
16	var deltaTime = time_s - platformState.Time_s;	3,802✔
17
18	var dt = new DeltaTime(deltaTime);	3,802✔
19
20	var accelerationTBA = GetAccelerationTBA();	3,802✔
21
22	var accelerationNED = GetAccelerationNED(accelerationTBA, platformState.Attitude);	3,802✔
23
24	var velocityNED = platformState.VelocityNED + accelerationNED * dt;	3,802✔
25	var positionNED = platformState.PositionNED + velocityNED * dt;	3,802✔
26
27	var positionLLA = MappingConversions.ConvertPositionNEDToPositionLLA(positionNED, LLAOrigin.PositionLLA);	3,802✔
28
29	var attitude = FrameConversions.GetAttitudeFromVelocityVector(platformState.VelocityNED);	3,802✔
30	var attitudeRate = GetAttitudeRate(platformState.Attitude, attitude, dt);	3,802✔
31
32	var ps = platformState with	3,802✔
33	{	3,802✔
34	DateTime = dateTime,	3,802✔
35	Time_s = time_s,	3,802✔
36	PositionLLA = positionLLA,	3,802✔
37	PositionNED = positionNED,	3,802✔
38	VelocityNED = velocityNED,	3,802✔
39	AccelerationNED = accelerationNED,	3,802✔
40	AccelerationTBA = accelerationTBA,	3,802✔
41	Attitude = attitude,	3,802✔
42	AttitudeRate = attitudeRate	3,802✔
43	};	3,802✔
44
45	return ps;	3,802✔
46	}	3,802✔
47
48	public AccelerationTBA GetAccelerationTBA()
49	{	3,802✔
50	var accelerationTBA = new AccelerationTBA	3,802✔
51	{	3,802✔
52	AccelerationAxial_ms2 = 0.0,	3,802✔
53	AccelerationLateral_ms2 = 0.0,	3,802✔
54	AccelerationVertical_ms2 = 0.0	3,802✔
55	};	3,802✔
56
57	return accelerationTBA;	3,802✔
58	}	3,802✔
59
60	public AccelerationNED GetAccelerationNED(AccelerationTBA accelerationTBA, Attitude attitude)
61	{	3,802✔
62	var accelerationNED = FrameConversions.GetAccelerationNED(accelerationTBA, attitude);	3,802✔
63
64	return accelerationNED;	3,802✔
65	}	3,802✔
66
67	public Attitude GetAttitude()
68	{	×
69	var attitude = new Attitude	×
70	{	×
71	HeadingAngle_deg = 0.0,	×
72	BankAngle_deg = 0.0,	×
73	PitchAngle_deg = 0.0,	×
74	};	×
75
76	return attitude;	×
77	}	×
78
79	public AttitudeRate GetAttitudeRate(Attitude attitudePrevious, Attitude attitudeCurrent, DeltaTime deltaTime_s)
80	{	3,802✔
81	if (deltaTime_s.DeltaTime_s == 0.0)	3,802✔
82	{	2✔
83	return new AttitudeRate	2✔
84	{	2✔
85	HeadingAngleRate_degs = 0.0,	2✔
86	PitchAngleRate_degs = 0.0,	2✔
87	BankAngleRate_degs = 0.0	2✔
88	};	2✔
89	}
90
91	var attitudeRate = (attitudeCurrent - attitudePrevious) / deltaTime_s;	3,800✔
92
93	return attitudeRate;	3,800✔
94	}	3,802✔
95	}

MissionEngineeringLtd / MissionEngineeringToolbox / 23765596749

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