23873601663

Committed 01 Apr 2026 10:18PM UTC coverage: 69.736% (-0.5%) from 70.201%

Build # 23873601663

Build Type

push

github

Committed by

MissionEngineeringLtd

Commit Message

#9: Added Sensor project.

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100 of 164 branches covered (60.98%)

Branch coverage included in aggregate %.

5 of 20 new or added lines in 2 files covered. (25.0%)

1301 of 1845 relevant lines covered (70.51%)

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75.95

/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)
    {
        // For update, we  use the actual acceleration in the TBA frame.
        var accelerationTBA = GetAccelerationTBA();

        var ps = GeneratePlatformState(dateTime, time_s, platformState, accelerationTBA);

        return ps;
    }

    public PlatformState Predict(DateTime dateTime, double time_s, PlatformState platformState)
    {
        // For prediction, we assume zero acceleration in the TBA frame for simplicity.
        var accelerationTBA = new AccelerationTBA
        {
            AccelerationAxial_ms2 = 0.0,
            AccelerationLateral_ms2 = 0.0,
            AccelerationVertical_ms2 = 0.0
        }; 

        var ps = GeneratePlatformState(dateTime, time_s, platformState, accelerationTBA);

        return ps;
    }

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

        var dt = new DeltaTime(deltaTime);

        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	// For update, we use the actual acceleration in the TBA frame.
17	var accelerationTBA = GetAccelerationTBA();	3,802✔
18
19	var ps = GeneratePlatformState(dateTime, time_s, platformState, accelerationTBA);	3,802✔
20
21	return ps;	3,802✔
22	}	3,802✔
23
24	public PlatformState Predict(DateTime dateTime, double time_s, PlatformState platformState)
NEW 25	{	×
26	// For prediction, we assume zero acceleration in the TBA frame for simplicity.
NEW 27	var accelerationTBA = new AccelerationTBA	×
NEW 28	{	×
NEW 29	AccelerationAxial_ms2 = 0.0,	×
NEW 30	AccelerationLateral_ms2 = 0.0,	×
NEW 31	AccelerationVertical_ms2 = 0.0	×
NEW 32	};	×
33
NEW 34	var ps = GeneratePlatformState(dateTime, time_s, platformState, accelerationTBA);	×
35
NEW 36	return ps;	×
NEW 37	}	×
38
39	public PlatformState GeneratePlatformState(DateTime dateTime, double time_s, PlatformState platformState, AccelerationTBA accelerationTBA)
40	{	3,802✔
41	var deltaTime = time_s - platformState.Time_s;	3,802✔
42
43	var dt = new DeltaTime(deltaTime);	3,802✔
44
45	var accelerationNED = GetAccelerationNED(accelerationTBA, platformState.Attitude);	3,802✔
46
47	var velocityNED = platformState.VelocityNED + accelerationNED * dt;	3,802✔
48	var positionNED = platformState.PositionNED + velocityNED * dt;	3,802✔
49
50	var positionLLA = MappingConversions.ConvertPositionNEDToPositionLLA(positionNED, LLAOrigin.PositionLLA);	3,802✔
51
52	var attitude = FrameConversions.GetAttitudeFromVelocityVector(platformState.VelocityNED);	3,802✔
53	var attitudeRate = GetAttitudeRate(platformState.Attitude, attitude, dt);	3,802✔
54
55	var ps = platformState with	3,802✔
56	{	3,802✔
57	DateTime = dateTime,	3,802✔
58	Time_s = time_s,	3,802✔
59	PositionLLA = positionLLA,	3,802✔
60	PositionNED = positionNED,	3,802✔
61	VelocityNED = velocityNED,	3,802✔
62	AccelerationNED = accelerationNED,	3,802✔
63	AccelerationTBA = accelerationTBA,	3,802✔
64	Attitude = attitude,	3,802✔
65	AttitudeRate = attitudeRate	3,802✔
66	};	3,802✔
67
68	return ps;	3,802✔
69	}	3,802✔
70
71	public AccelerationTBA GetAccelerationTBA()
72	{	3,802✔
73	var accelerationTBA = new AccelerationTBA	3,802✔
74	{	3,802✔
75	AccelerationAxial_ms2 = 0.0,	3,802✔
76	AccelerationLateral_ms2 = 0.0,	3,802✔
77	AccelerationVertical_ms2 = 0.0	3,802✔
78	};	3,802✔
79
80	return accelerationTBA;	3,802✔
81	}	3,802✔
82
83	public AccelerationNED GetAccelerationNED(AccelerationTBA accelerationTBA, Attitude attitude)
84	{	3,802✔
85	var accelerationNED = FrameConversions.GetAccelerationNED(accelerationTBA, attitude);	3,802✔
86
87	return accelerationNED;	3,802✔
88	}	3,802✔
89
90	public Attitude GetAttitude()
91	{	×
92	var attitude = new Attitude	×
93	{	×
94	HeadingAngle_deg = 0.0,	×
95	BankAngle_deg = 0.0,	×
96	PitchAngle_deg = 0.0,	×
97	};	×
98
99	return attitude;	×
100	}	×
101
102	public AttitudeRate GetAttitudeRate(Attitude attitudePrevious, Attitude attitudeCurrent, DeltaTime deltaTime_s)
103	{	3,802✔
104	if (deltaTime_s.DeltaTime_s == 0.0)	3,802✔
105	{	2✔
106	return new AttitudeRate	2✔
107	{	2✔
108	HeadingAngleRate_degs = 0.0,	2✔
109	PitchAngleRate_degs = 0.0,	2✔
110	BankAngleRate_degs = 0.0	2✔
111	};	2✔
112	}
113
114	var attitudeRate = (attitudeCurrent - attitudePrevious) / deltaTime_s;	3,800✔
115
116	return attitudeRate;	3,800✔
117	}	3,802✔
118	}

MissionEngineeringLtd / MissionEngineeringToolbox / 23873601663

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