def test_steer_with_fcs(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('L410')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'L410', 'reset00'), False)
fdm.run_ic()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0)
fdm['fcs/steer-cmd-norm'] = 1.0
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0)
fdm['/controls/switches/full-steering-sw'] = 1.0
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0)
fdm['/controls/switches/full-steering-sw'] = 2.0
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 45.0)
fdm['fcs/steer-cmd-norm'] = -0.5
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], -0.5)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], -22.5)
def test_waypoint(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c310')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'c310', 'reset00'), False)
slr = 20925646.32546 # Sea Level Radius
TestCases = ((0.25*math.pi, 0.5*math.pi, 0.0, 0.0),
(0.0, 0.5*math.pi, math.pi, slr*0.25*math.pi),
# North pole
(0.5*math.pi, 0.5*math.pi, 0.0, slr*0.25*math.pi),
# South pole
(-0.5*math.pi, 0.5*math.pi, math.pi, slr*0.75*math.pi),
(0.0, 0.0, 1.5*math.pi, slr*0.5*math.pi),
(0.0, math.pi, 0.5*math.pi, slr*0.5*math.pi))
fdm['ic/lat-gc-rad'] = TestCases[0][0]
fdm['ic/long-gc-rad'] = TestCases[0][1]
for case in TestCases:
fdm['guidance/target_wp_latitude_rad'] = case[0]
fdm['guidance/target_wp_longitude_rad'] = case[1]
fdm.run_ic()
self.assertAlmostEqual(fdm['guidance/wp-heading-rad'], case[2])
self.assertAlmostEqual(fdm['guidance/wp-distance'], case[3])
def test_steer_with_fcs(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('L410')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'L410', 'reset00'), False)
fdm.run_ic()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0)
fdm['fcs/steer-cmd-norm'] = 1.0
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0)
fdm['/controls/switches/full-steering-sw'] = 1.0
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0)
fdm['/controls/switches/full-steering-sw'] = 2.0
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 45.0)
fdm['fcs/steer-cmd-norm'] = -0.5
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], -0.5)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], -22.5)
def test_direct_steer(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c172r')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'c172r', 'reset00'), False)
fdm.run_ic()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0)
# Should be part of a unit test in C++ ?
fpectl.turnon_sigfpe()
grndreact = fdm.get_ground_reactions()
for i in xrange(grndreact.get_num_gear_units()):
gear = grndreact.get_gear_unit(i)
self.assertEqual(gear.get_steer_norm(), 0.0)
fpectl.turnoff_sigfpe()
fdm['fcs/steer-pos-deg'] = 5.0
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
fdm['fcs/steer-cmd-norm'] = 1.0
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 10.0)
def test_trim_doesnt_ignite_rockets(self):
# Run a longitudinal trim with a rocket equipped with solid propellant
# boosters (aka SRBs). The trim algorithm will try to reach a vertical
# equilibrium by tweaking the throttle but since the rocket is nose up,
# the trim cannot converge. As a result the algorithm will set full
# throttle which will result in the SRBs ignition if the integration is
# not suspended. This bug has been reported in FlightGear and this test
# is checking that there is no regression.
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
fdm.load_ic(
self.sandbox.path_to_jsbsim_file('aircraft', 'J246', 'LC39'),
False)
fdm.run_ic()
# Check that the SRBs are not ignited
self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0)
self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0)
try:
fdm['simulation/do_simple_trim'] = 1
except RuntimeError as e:
# The trim cannot succeed. Just make sure that the raised exception
# is due to the trim failure otherwise rethrow.
if e.args[0] != 'Trim Failed':
raise
# Check that the trim did not ignite the SRBs
self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0)
self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0)
def testKinematicTiming(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c172r')
fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', 'c172r',
'reset00'), False)
fdm.run_ic()
self.assertEqual(fdm['fcs/flap-cmd-norm'], 0.0)
self.assertEqual(fdm['fcs/flap-pos-deg'], 0.0)
# Test the flap down sequence. The flap command is set to a value
# higher than 1.0 to check that JSBSim clamps it to 1.0
fdm['fcs/flap-cmd-norm'] = 1.5
t = fdm['simulation/sim-time-sec']
while t < 2.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 5.*t)
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 4.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 10.*(t-1.))
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 5.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 30.)
fdm.run()
t = fdm['simulation/sim-time-sec']
# Test the flap up sequence with an interruption at 7.5 deg
fdm['fcs/flap-cmd-norm'] = 0.25
while t < 7.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 30.-10.*(t-5.))
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 7.5:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 10.-5.*(t-7.))
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 8.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 7.5)
fdm.run()
t = fdm['simulation/sim-time-sec']
# Complete the flap up sequence. The flap command is set to a value
# lower than 0.0 to check that JSBSim clamps it to 0.0
fdm['fcs/flap-cmd-norm'] = -1.
while t < 9.5:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 10.-5.*(t-7.5))
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 10.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 0.0)
fdm.run()
t = fdm['simulation/sim-time-sec']
def test_trim_doesnt_ignite_rockets(self):
# Run a longitudinal trim with a rocket equipped with solid propellant
# boosters (aka SRBs). The trim algorithm will try to reach a vertical
# equilibrium by tweaking the throttle but since the rocket is nose up,
# the trim cannot converge. As a result the algorithm will set full
# throttle which will result in the SRBs ignition if the integration is
# not suspended. This bug has been reported in FlightGear and this test
# is checking that there is no regression.
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', 'J246',
'LC39'), False)
fdm.run_ic()
# Check that the SRBs are not ignited
self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0)
self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0)
try:
fdm['simulation/do_simple_trim'] = 1
except RuntimeError as e:
# The trim cannot succeed. Just make sure that the raised exception
# is due to the trim failure otherwise rethrow.
if e.args[0] != 'Trim Failed':
raise
# Check that the trim did not ignite the SRBs
self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0)
self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0)
def test_direct_steer(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c172r')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'c172r', 'reset00'), False)
fdm.run_ic()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0)
# Should be part of a unit test in C++ ?
fpectl.turnon_sigfpe()
grndreact = fdm.get_ground_reactions()
for i in xrange(grndreact.get_num_gear_units()):
gear = grndreact.get_gear_unit(i)
self.assertEqual(gear.get_steer_norm(), 0.0)
fpectl.turnoff_sigfpe()
fdm['fcs/steer-pos-deg'] = 5.0
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
fdm['fcs/steer-cmd-norm'] = 1.0
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 10.0)
def test_waypoint(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c310')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'c310', 'reset00'), False)
slr = 20925646.32546 # Sea Level Radius
TestCases = (
(0.25 * math.pi, 0.5 * math.pi, 0.0, 0.0),
(0.0, 0.5 * math.pi, math.pi, slr * 0.25 * math.pi),
# North pole
(0.5 * math.pi, 0.5 * math.pi, 0.0, slr * 0.25 * math.pi),
# South pole
(-0.5 * math.pi, 0.5 * math.pi, math.pi, slr * 0.75 * math.pi),
(0.0, 0.0, 1.5 * math.pi, slr * 0.5 * math.pi),
(0.0, math.pi, 0.5 * math.pi, slr * 0.5 * math.pi))
fdm['ic/lat-gc-rad'] = TestCases[0][0]
fdm['ic/long-gc-rad'] = TestCases[0][1]
for case in TestCases:
fdm['guidance/target_wp_latitude_rad'] = case[0]
fdm['guidance/target_wp_longitude_rad'] = case[1]
fdm.run_ic()
self.assertAlmostEqual(fdm['guidance/wp-heading-rad'], case[2])
self.assertAlmostEqual(fdm['guidance/wp-distance'], case[3])
def test_asl_override_vs_geod_lat(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c310')
fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', 'c310',
'ellington.xml'), False)
geod_lat = fdm['ic/lat-geod-deg']
fdm['ic/h-sl-ft'] = 35000.
self.assertAlmostEqual(fdm['ic/lat-geod-deg'], geod_lat)
def test_asl_override_vs_geod_lat(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c310')
fdm.load_ic(
self.sandbox.path_to_jsbsim_file('aircraft', 'c310',
'ellington.xml'), False)
geod_lat = fdm['ic/lat-geod-deg']
fdm['ic/h-sl-ft'] = 35000.
self.assertAlmostEqual(fdm['ic/lat-geod-deg'], geod_lat)
def testSpinningBodyOnOrbit(self):
script_name = 'ball_orbit.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model('ball')
# Offset the CG along Y (by 30")
fdm.set_property_value('inertia/pointmass-weight-lbs[1]', 50.0)
aircraft_path = self.sandbox.elude(
self.sandbox.path_to_jsbsim_file('aircraft', 'ball'))
fdm.load_ic(os.path.join(aircraft_path, 'reset00.xml'), False)
# Switch the accel on
fdm.set_property_value('fcs/accelerometer/on', 1.0)
# Set the orientation such that the spinning axis is Z.
fdm.set_property_value('ic/phi-rad', 0.5 * math.pi)
# Set the angular velocities to 0.0 in the ECEF frame. The angular
# velocity R_{inertial} will therefore be equal to the Earth rotation
# rate 7.292115E-5 rad/sec
fdm.set_property_value('ic/p-rad_sec', 0.0)
fdm.set_property_value('ic/q-rad_sec', 0.0)
fdm.set_property_value('ic/r-rad_sec', 0.0)
fdm.run_ic()
fax = fdm.get_property_value('fcs/accelerometer/X')
fay = fdm.get_property_value('fcs/accelerometer/Y')
faz = fdm.get_property_value('fcs/accelerometer/Z')
cgy_ft = fdm.get_property_value('inertia/cg-y-in') / 12.
omega = 0.00007292115 # Earth rotation rate in rad/sec
self.assertAlmostEqual(
fdm.get_property_value('accelerations/a-pilot-x-ft_sec2'),
fax,
delta=1E-8)
self.assertAlmostEqual(
fdm.get_property_value('accelerations/a-pilot-y-ft_sec2'),
fay,
delta=1E-8)
self.assertAlmostEqual(
fdm.get_property_value('accelerations/a-pilot-z-ft_sec2'),
faz,
delta=1E-8)
# Acceleration along X should be zero
self.assertAlmostEqual(fax, 0.0, delta=1E-8)
# Acceleration along Y should be equal to r*omega^2
self.assertAlmostEqual(fay / (cgy_ft * omega * omega), 1.0, delta=1E-7)
# Acceleration along Z should be zero
self.assertAlmostEqual(faz, 0.0, delta=1E-8)
def testKinematicSetInitialValue(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('p51d')
fdm.load_ic('reset01', True)
fdm.run_ic()
fdm['gear/gear-cmd-norm'] = 0.5
fdm['gear/gear-pos-norm'] = 0.5
while fdm['simulation/sim-time-sec'] < 1.0:
fdm.run()
self.assertAlmostEqual(fdm['gear/gear-cmd-norm'], 0.5)
self.assertAlmostEqual(fdm['gear/gear-pos-norm'], 0.5)
def test_initial_latitude(self):
Output_file = self.sandbox.path_to_jsbsim_file('tests', 'output.xml')
GEODETIC, ELEVATION, ALTITUDE = (1, 2, 4)
for v in ('', '_v2'):
IC_file = self.sandbox.path_to_jsbsim_file('aircraft', 'ball',
'reset00' + v + '.xml')
for i in xrange(8):
for latitude_pos in xrange(4):
IC_tree = et.parse(IC_file)
IC_root = IC_tree.getroot()
if v:
position_tag = IC_root.find('position')
latitude_tag = et.SubElement(position_tag, 'latitude')
latitude_tag.attrib['unit'] = 'DEG'
else:
position_tag = IC_root
latitude_tag = IC_root.find('latitude')
latitude_tag.text = str(latitude_pos * 30.)
if i & GEODETIC:
latitude_tag.attrib['type'] = 'geod'
if i & ELEVATION:
elevation_tag = et.SubElement(IC_root, 'elevation')
elevation_tag.text = '1000.'
if i & ALTITUDE:
if v:
altitude_tag = position_tag.find('altitudeMSL')
altitude_tag.tag = 'altitudeAGL'
else:
altitude_tag = position_tag.find('altitude')
altitude_tag.tag = 'altitudeMSL'
IC_tree.write('IC.xml')
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
fdm.set_output_directive(Output_file)
fdm.set_output_filename(1, 'check_csv_values.csv')
fdm.load_ic('IC.xml', False)
fdm.run_ic()
self.CheckICValues(self.GetVariables(latitude_tag),
'IC%d' % (i, ), fdm, position_tag)
del fdm
def test_static_hold_down(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'J246', 'LC39'), False)
fdm['forces/hold-down'] = 1.0
fdm.run_ic()
h0 = fdm['position/h-sl-ft']
t = 0.0
while t < 420.0:
fdm.run()
t = fdm['simulation/sim-time-sec']
self.assertAlmostEqual(fdm['position/h-sl-ft'], h0, delta=1E-5)
def test_static_hold_down(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'J246', 'LC39'), False)
fdm['forces/hold-down'] = 1.0
fdm.run_ic()
h0 = fdm['position/h-sl-ft']
t = 0.0
while t < 420.0:
fdm.run()
t = fdm['simulation/sim-time-sec']
self.assertAlmostEqual(fdm['position/h-sl-ft'], h0, delta=1E-5)
def testKinematicSetInitialValue(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('p51d')
fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', 'p51d',
'reset01'), False)
fdm.run_ic()
fdm['gear/gear-cmd-norm'] = 0.5
fdm['gear/gear-pos-norm'] = 0.5
while fdm['simulation/sim-time-sec'] < 1.0:
fdm.run()
self.assertAlmostEqual(fdm['gear/gear-cmd-norm'], 0.5)
self.assertAlmostEqual(fdm['gear/gear-pos-norm'], 0.5)
def test_initial_latitude(self):
Output_file = self.sandbox.path_to_jsbsim_file('tests', 'output.xml')
GEODETIC, ELEVATION, ALTITUDE = (1, 2, 4)
for v in ('', '_v2'):
IC_file = self.sandbox.path_to_jsbsim_file('aircraft', 'ball',
'reset00'+v+'.xml')
for i in xrange(8):
for latitude_pos in xrange(4):
IC_tree = et.parse(IC_file)
IC_root = IC_tree.getroot()
if v:
position_tag = IC_root.find('position')
latitude_tag = et.SubElement(position_tag, 'latitude')
latitude_tag.attrib['unit'] = 'DEG'
else:
position_tag = IC_root
latitude_tag = IC_root.find('latitude')
latitude_tag.text = str(latitude_pos*30.)
if i & GEODETIC:
latitude_tag.attrib['type'] = 'geod'
if i & ELEVATION:
elevation_tag = et.SubElement(IC_root, 'elevation')
elevation_tag.text = '1000.'
if i & ALTITUDE:
if v:
altitude_tag = position_tag.find('altitudeMSL')
altitude_tag.tag = 'altitudeAGL'
else:
altitude_tag = position_tag.find('altitude')
altitude_tag.tag = 'altitudeMSL'
IC_tree.write('IC.xml')
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
fdm.set_output_directive(Output_file)
fdm.set_output_filename(1, 'check_csv_values.csv')
fdm.load_ic('IC.xml', False)
fdm.run_ic()
self.CheckICValues(self.GetVariables(latitude_tag),
'IC%d' % (i,), fdm, position_tag)
del fdm
def test_static_hold_down(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
fdm.load_ic('LC39', True)
fdm['forces/hold-down'] = 1.0
fdm.run_ic()
h0 = fdm['position/vrp-radius-ft']
t = 0.0
while t < 420.0:
fdm.run()
t = fdm['simulation/sim-time-sec']
self.assertAlmostEqual(fdm['position/vrp-radius-ft'] / h0,
1.0,
delta=1E-9)
def testKinematicSetInitialValue(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('p51d')
fdm.load_ic(
self.sandbox.path_to_jsbsim_file('aircraft', 'p51d', 'reset01'),
False)
fdm.run_ic()
fdm['gear/gear-cmd-norm'] = 0.5
fdm['gear/gear-pos-norm'] = 0.5
while fdm['simulation/sim-time-sec'] < 1.0:
fdm.run()
self.assertAlmostEqual(fdm['gear/gear-cmd-norm'], 0.5)
self.assertAlmostEqual(fdm['gear/gear-pos-norm'], 0.5)
def testAircrafts(self):
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
for d in os.listdir(aircraft_path):
fullpath = os.path.join(aircraft_path, d)
# Is d a directory ?
if not os.path.isdir(fullpath):
continue
f = os.path.join(aircraft_path, d, d+'.xml')
# Is f an aircraft definition file ?
if not CheckXMLFile(f, 'fdm_config'):
continue
if d in ('blank'):
continue
fdm = CreateFDM(self.sandbox)
self.assertTrue(fdm.load_model(d),
msg='Failed to load aircraft %s' % (d,))
for f in os.listdir(fullpath):
f = os.path.join(aircraft_path, d, f)
if CheckXMLFile(f, 'initialize'):
self.assertTrue(fdm.load_ic(f, False),
msg='Failed to load IC %s for aircraft %s' % (f, d))
try:
fdm.run_ic()
except RuntimeError:
self.fail('Failed to run IC %s for aircraft %s' % (f, d))
del fdm
def testAircrafts(self):
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
for d in os.listdir(aircraft_path):
fullpath = os.path.join(aircraft_path, d)
# Is d a directory ?
if not os.path.isdir(fullpath):
continue
f = os.path.join(aircraft_path, d, d + '.xml')
# Is f an aircraft definition file ?
if not CheckXMLFile(f, 'fdm_config'):
continue
if d in ('blank'):
continue
fdm = CreateFDM(self.sandbox)
self.assertTrue(fdm.load_model(d),
msg='Failed to load aircraft %s' % (d, ))
for f in os.listdir(fullpath):
f = os.path.join(aircraft_path, d, f)
if CheckXMLFile(f, 'initialize'):
self.assertTrue(
fdm.load_ic(f, False),
msg='Failed to load IC %s for aircraft %s' % (f, d))
try:
fdm.run_ic()
except RuntimeError:
self.fail('Failed to run IC %s for aircraft %s' %
(f, d))
del fdm
def testSpinningBodyOnOrbit(self):
script_name = 'ball_orbit.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model('ball')
# Offset the CG along Y (by 30")
fdm['inertia/pointmass-weight-lbs[1]'] = 50.0
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft', 'ball')
fdm.load_ic(os.path.join(aircraft_path, 'reset00.xml'), False)
# Switch the accel on
fdm['fcs/accelerometer/on'] = 1.0
# Set the orientation such that the spinning axis is Z.
fdm['ic/phi-rad'] = 0.5 * math.pi
# Set the angular velocities so that angular velocity R_{inertial} will
# be equal to 1.0 rad/sec.
omega = 0.00007292115 # Earth rotation rate in rad/sec
fdm['ic/p-rad_sec'] = 0.0
fdm['ic/q-rad_sec'] = 0.0
fdm['ic/r-rad_sec'] = 1.0 - omega
fdm.run_ic()
fax = fdm['fcs/accelerometer/X']
fay = fdm['fcs/accelerometer/Y']
faz = fdm['fcs/accelerometer/Z']
cgy_ft = fdm['inertia/cg-y-in'] / 12.
self.assertAlmostEqual(fdm['accelerations/a-pilot-x-ft_sec2'],
fax,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-y-ft_sec2'],
fay,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-z-ft_sec2'],
faz,
delta=1E-8)
# Acceleration along X should be zero
self.assertAlmostEqual(fax, 0.0, delta=1E-8)
# Acceleration along Y should be equal to d*r_dot^2
self.assertAlmostEqual(fay / cgy_ft, 1.0, delta=1E-7)
# Acceleration along Z should be zero
self.assertAlmostEqual(faz, 0.0, delta=1E-8)
def test_direct_steer(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c172r')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'c172r', 'reset00'), False)
fdm.run_ic()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0)
fdm['fcs/steer-pos-deg'] = 5.0
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
fdm['fcs/steer-cmd-norm'] = 1.0
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 10.0)
def testSpinningBodyOnOrbit(self):
script_name = 'ball_orbit.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model('ball')
# Offset the CG along Y (by 30")
fdm.set_property_value('inertia/pointmass-weight-lbs[1]', 50.0)
aircraft_path = self.sandbox.elude(self.sandbox.path_to_jsbsim_file('aircraft', 'ball'))
fdm.load_ic(os.path.join(aircraft_path, 'reset00.xml'), False)
# Switch the accel on
fdm.set_property_value('fcs/accelerometer/on', 1.0)
# Set the orientation such that the spinning axis is Z.
fdm.set_property_value('ic/phi-rad', 0.5*math.pi)
# Set the angular velocities to 0.0 in the ECEF frame. The angular
# velocity R_{inertial} will therefore be equal to the Earth rotation
# rate 7.292115E-5 rad/sec
fdm.set_property_value('ic/p-rad_sec', 0.0)
fdm.set_property_value('ic/q-rad_sec', 0.0)
fdm.set_property_value('ic/r-rad_sec', 0.0)
fdm.run_ic()
fax = fdm.get_property_value('fcs/accelerometer/X')
fay = fdm.get_property_value('fcs/accelerometer/Y')
faz = fdm.get_property_value('fcs/accelerometer/Z')
cgy_ft = fdm.get_property_value('inertia/cg-y-in') / 12.
omega = 0.00007292115 # Earth rotation rate in rad/sec
self.assertAlmostEqual(fdm.get_property_value('accelerations/a-pilot-x-ft_sec2'),
fax, delta=1E-8)
self.assertAlmostEqual(fdm.get_property_value('accelerations/a-pilot-y-ft_sec2'),
fay, delta=1E-8)
self.assertAlmostEqual(fdm.get_property_value('accelerations/a-pilot-z-ft_sec2'),
faz, delta=1E-8)
# Acceleration along X should be zero
self.assertAlmostEqual(fax, 0.0, delta=1E-8)
# Acceleration along Y should be equal to r*omega^2
self.assertAlmostEqual(fay / (cgy_ft * omega * omega), 1.0, delta=1E-7)
# Acceleration along Z should be zero
self.assertAlmostEqual(faz, 0.0, delta=1E-8)
def test_dynamic_hold_down(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
fdm.load_ic('LC39', True)
fdm['forces/hold-down'] = 1.0
fdm.run_ic()
h0 = fdm['position/vrp-radius-ft']
# Start solid rocket boosters
fdm['fcs/throttle-cmd-norm[0]'] = 1.0
fdm['fcs/throttle-cmd-norm[1]'] = 1.0
t = 0.0
while t < 420.0:
fdm.run()
t = fdm['simulation/sim-time-sec']
self.assertAlmostEqual(fdm['position/vrp-radius-ft'] / h0,
1.0,
delta=1E-9)
def testKinematicNoScale(self):
# Test the <nocale/> feature
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'c1721.xml')
tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox)
kinematic_tag = tree.getroot().find('flight_control/channel/kinematic')
et.SubElement(kinematic_tag, 'noscale')
tree.write(
self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model(aircraft_name)
fdm.load_ic('reset00', True)
fdm.run_ic()
fdm['fcs/flap-cmd-norm'] = 12.
ExecuteUntil(fdm, 2.2)
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 12.)
def testSpinningBodyOnOrbit(self):
script_name = 'ball_orbit.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model('ball')
# Offset the CG along Y (by 30")
fdm['inertia/pointmass-weight-lbs[1]'] = 50.0
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft', 'ball')
fdm.load_ic(os.path.join(aircraft_path, 'reset00.xml'), False)
# Switch the accel on
fdm['fcs/accelerometer/on'] = 1.0
# Set the orientation such that the spinning axis is Z.
fdm['ic/phi-rad'] = 0.5*math.pi
# Set the angular velocities so that angular velocity R_{inertial} will
# be equal to 1.0 rad/sec.
omega = 0.00007292115 # Earth rotation rate in rad/sec
fdm['ic/p-rad_sec'] = 0.0
fdm['ic/q-rad_sec'] = 0.0
fdm['ic/r-rad_sec'] = 1.0 - omega
fdm.run_ic()
fax = fdm['fcs/accelerometer/X']
fay = fdm['fcs/accelerometer/Y']
faz = fdm['fcs/accelerometer/Z']
cgy_ft = fdm['inertia/cg-y-in'] / 12.
self.assertAlmostEqual(fdm['accelerations/a-pilot-x-ft_sec2'], fax,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-y-ft_sec2'], fay,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-z-ft_sec2'], faz,
delta=1E-8)
# Acceleration along X should be zero
self.assertAlmostEqual(fax, 0.0, delta=1E-8)
# Acceleration along Y should be equal to d*r_dot^2
self.assertAlmostEqual(fay / cgy_ft, 1.0, delta=1E-7)
# Acceleration along Z should be zero
self.assertAlmostEqual(faz, 0.0, delta=1E-8)
def testKinematicNoScale(self):
# Test the <nocale/> feature
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'c1721.xml')
tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox)
kinematic_tag = tree.getroot().find('flight_control/channel/kinematic')
et.SubElement(kinematic_tag, 'noscale')
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model(aircraft_name)
fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', aircraft_name,
'reset00'), False)
fdm.run_ic()
fdm['fcs/flap-cmd-norm'] = 12.
ExecuteUntil(fdm, 2.2)
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 12.)
def test_dynamic_hold_down(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'J246', 'LC39'), False)
fdm['forces/hold-down'] = 1.0
fdm.run_ic()
h0 = fdm['position/vrp-radius-ft']
# Start solid rocket boosters
fdm['fcs/throttle-cmd-norm[0]'] = 1.0
fdm['fcs/throttle-cmd-norm[1]'] = 1.0
t = 0.0
while t < 420.0:
fdm.run()
t = fdm['simulation/sim-time-sec']
self.assertAlmostEqual(fdm['position/vrp-radius-ft'] / h0,
1.0,
delta=1E-9)
def test_no_script(self):
fdm = CreateFDM(self.sandbox)
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_model('c172x')
aircraft_path = os.path.join(aircraft_path, 'c172x')
fdm.load_ic(os.path.join(aircraft_path, 'reset01.xml'), False)
fdm.run_ic()
self.assertEqual(fdm['simulation/sim-time-sec'], 0.0)
ExecuteUntil(fdm, 5.0)
t = fdm['simulation/sim-time-sec']
fdm['simulation/do_simple_trim'] = 1
self.assertEqual(fdm['simulation/sim-time-sec'], t)
fdm.reset_to_initial_conditions(1)
self.assertEqual(fdm['simulation/sim-time-sec'], 0.0)
del fdm
def test_no_script(self):
fdm = CreateFDM(self.sandbox)
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_model('c172x')
aircraft_path = os.path.join(aircraft_path, 'c172x')
fdm.load_ic(os.path.join(aircraft_path, 'reset01.xml'), False)
fdm.run_ic()
self.assertEqual(fdm['simulation/sim-time-sec'], 0.0)
ExecuteUntil(fdm, 5.0)
t = fdm['simulation/sim-time-sec']
fdm['simulation/do_simple_trim'] = 1
self.assertEqual(fdm['simulation/sim-time-sec'], t)
fdm.reset_to_initial_conditions(1)
self.assertEqual(fdm['simulation/sim-time-sec'], 0.0)
del fdm
def testKinematicAndTrim(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('p51d')
fdm.load_ic('reset01', True)
self.assertEqual(fdm['gear/gear-cmd-norm'], 1.0)
# Set the landing gears up. Since the command is equal to 1.0, the
# <kinematic> system will trigger the gear down sequence.
fdm['gear/gear-pos-norm'] = 0.0
fdm.run_ic()
# The test succeeds if the trim does not raise an exception i.e. if the
# <kinematic> system does not interfer with the trim on ground
# algorithm.
fdm['simulation/do_simple_trim'] = 2 # Ground trim
# Check that the gear is down after the trim as requested by
# gear/gear-cmd-norm
self.assertAlmostEqual(fdm['gear/gear-pos-norm'], 1.0)
# Check that the gear is not moving to another position after trim.
fdm.run()
self.assertAlmostEqual(fdm['gear/gear-pos-norm'], 1.0)
def testKinematicAndTrim(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('p51d')
fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', 'p51d',
'reset01'), False)
self.assertEqual(fdm['gear/gear-cmd-norm'], 1.0)
# Set the landing gears up. Since the command is equal to 1.0, the
# <kinematic> system will trigger the gear down sequence.
fdm['gear/gear-pos-norm'] = 0.0
fdm.run_ic()
# The test succeeds if the trim does not raise an exception i.e. if the
# <kinematic> system does not interfer with the trim on ground
# algorithm.
fdm['simulation/do_simple_trim'] = 2 # Ground trim
# Check that the gear is down after the trim as requested by
# gear/gear-cmd-norm
self.assertAlmostEqual(fdm['gear/gear-pos-norm'], 1.0)
# Check that the gear is not moving to another position after trim.
fdm.run()
self.assertAlmostEqual(fdm['gear/gear-pos-norm'], 1.0)
def test_body_frame(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('f16')
fdm.load_ic('reset00.xml', True)
fdm.run_ic()
self.assertAlmostEqual(
fdm['external_reactions/pushback/location-x-in'], -2.98081)
self.assertAlmostEqual(
fdm['external_reactions/pushback/location-y-in'], 0.0)
self.assertAlmostEqual(
fdm['external_reactions/pushback/location-z-in'], -1.9683)
self.assertAlmostEqual(fdm['external_reactions/pushback/x'], 1.0)
self.assertAlmostEqual(fdm['external_reactions/pushback/y'], 0.0)
self.assertAlmostEqual(fdm['external_reactions/pushback/z'], 0.0)
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'],
0.0)
self.assertAlmostEqual(fdm['external_reactions/hook/location-x-in'],
100.669)
self.assertAlmostEqual(fdm['external_reactions/hook/location-y-in'],
0.0)
self.assertAlmostEqual(fdm['external_reactions/hook/location-z-in'],
-28.818)
dx = -0.9995
dz = 0.01
fhook = np.array([dx, 0.0, dz])
fhook /= np.linalg.norm(fhook)
self.assertAlmostEqual(fdm['external_reactions/hook/x'], fhook[0])
self.assertAlmostEqual(fdm['external_reactions/hook/y'], fhook[1])
self.assertAlmostEqual(fdm['external_reactions/hook/z'], fhook[2])
self.assertAlmostEqual(fdm['external_reactions/hook/magnitude'], 0.0)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], 0.0)
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], 0.0)
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], 0.0)
# Check the 'pushback' external force alone
fdm['/sim/model/pushback/position-norm'] = 1.0
fdm['/sim/model/pushback/target-speed-fps'] = 1.0
fdm['/sim/model/pushback/kp'] = 0.05
fdm.run()
fpb = np.array([1.0, 0.0, 0.0]) * 0.05
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'],
0.05)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], fpb[0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], fpb[1])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], fpb[2])
m = np.cross(self.getLeverArm(fdm, 'pushback'), fpb)
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
# Reset the 'pushback' external force to zero
fdm['/sim/model/pushback/position-norm'] = 0.0
fdm.run()
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'],
0.0)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], 0.0)
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], 0.0)
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], 0.0)
# Check the 'hook' external force alone
fdm['external_reactions/hook/magnitude'] = 10.0
fhook *= 10.0
fdm.run()
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], fhook[0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], fhook[1])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], fhook[2])
m = np.cross(self.getLeverArm(fdm, 'hook'), fhook)
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
# Add the 'pushback' force to the hook force and check that the global
# external forces is the sum of the push back force and the hook force.
fdm['/sim/model/pushback/position-norm'] = 1.0
fdm.run()
fp = fdm['systems/pushback/force']
fpb = np.array([1.0, 0.0, 0.0]) * fp
f = fhook + fpb
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'],
fp)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2])
# Modify the push back force direction and check that the global external
# force is modified accordingly.
fdm['external_reactions/pushback/x'] = 1.5
fdm['external_reactions/pushback/y'] = 0.1
fdm.run()
fp = fdm['systems/pushback/force']
fpb = np.array([1.5, 0.1, 0.0]) * fp
f = fhook + fpb
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'],
fp)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2])
m = (np.cross(self.getLeverArm(fdm, 'pushback'), fpb) +
np.cross(self.getLeverArm(fdm, 'hook'), fhook))
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
fdm['external_reactions/hook/location-y-in'] = 50.0
fdm.run()
fp = fdm['systems/pushback/force']
fpb = np.array([1.5, 0.1, 0.0]) * fp
f = fhook + fpb
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'],
fp)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2])
m = (np.cross(self.getLeverArm(fdm, 'pushback'), fpb) +
np.cross(self.getLeverArm(fdm, 'hook'), fhook))
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
def test_body_frame(self):
fdm = CreateFDM(self.sandbox)
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_model('f16')
aircraft_path = os.path.join(aircraft_path, 'f16')
fdm.load_ic(os.path.join(aircraft_path, 'reset00.xml'), False)
fdm.run_ic()
self.assertAlmostEqual(fdm['external_reactions/pushback/location-x-in'],
-2.98081)
self.assertAlmostEqual(fdm['external_reactions/pushback/location-y-in'],
0.0)
self.assertAlmostEqual(fdm['external_reactions/pushback/location-z-in'],
-1.9683)
self.assertAlmostEqual(fdm['external_reactions/pushback/x'], 1.0)
self.assertAlmostEqual(fdm['external_reactions/pushback/y'], 0.0)
self.assertAlmostEqual(fdm['external_reactions/pushback/z'], 0.0)
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'],
0.0)
self.assertAlmostEqual(fdm['external_reactions/hook/location-x-in'],
100.669)
self.assertAlmostEqual(fdm['external_reactions/hook/location-y-in'],
0.0)
self.assertAlmostEqual(fdm['external_reactions/hook/location-z-in'],
-28.818)
dx = -0.9995
dz = 0.01
fhook = np.array([dx, 0.0, dz])
fhook /= np.linalg.norm(fhook)
self.assertAlmostEqual(fdm['external_reactions/hook/x'], fhook[0])
self.assertAlmostEqual(fdm['external_reactions/hook/y'], fhook[1])
self.assertAlmostEqual(fdm['external_reactions/hook/z'], fhook[2])
self.assertAlmostEqual(fdm['external_reactions/hook/magnitude'], 0.0)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], 0.0)
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], 0.0)
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], 0.0)
# Check the 'pushback' external force alone
fdm['/sim/model/pushback/position-norm'] = 1.0
fdm['/sim/model/pushback/target-speed-fps'] = 1.0
fdm['/sim/model/pushback/kp'] = 0.05
fdm.run()
fpb = np.array([1.0, 0.0, 0.0]) * 0.05
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'],
0.05)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], fpb[0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], fpb[1])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], fpb[2])
m = np.cross(self.getLeverArm(fdm, 'pushback'), fpb)
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
# Reset the 'pushback' external force to zero
fdm['/sim/model/pushback/position-norm'] = 0.0
fdm.run()
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'], 0.0)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], 0.0)
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], 0.0)
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], 0.0)
# Check the 'hook' external force alone
fdm['external_reactions/hook/magnitude'] = 10.0
fhook *= 10.0
fdm.run()
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], fhook[0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], fhook[1])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], fhook[2])
m = np.cross(self.getLeverArm(fdm, 'hook'), fhook)
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
# Add the 'pushback' force to the hook force and check that the global
# external forces is the sum of the push back force and the hook force.
fdm['/sim/model/pushback/position-norm'] = 1.0
fdm.run()
fp = fdm['systems/pushback/force']
fpb = np.array([1.0, 0.0, 0.0]) * fp
f = fhook + fpb
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'], fp)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2])
# Modify the push back force direction and check that the global external
# force is modified accordingly.
fdm['external_reactions/pushback/x'] = 1.5
fdm['external_reactions/pushback/y'] = 0.1
fdm.run()
fp = fdm['systems/pushback/force']
fpb = np.array([1.5, 0.1, 0.0]) * fp
f = fhook + fpb
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'], fp)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2])
m = (np.cross(self.getLeverArm(fdm, 'pushback'), fpb)
+ np.cross(self.getLeverArm(fdm, 'hook'), fhook))
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
fdm['external_reactions/hook/location-y-in'] = 50.0
fdm.run()
fp = fdm['systems/pushback/force']
fpb = np.array([1.5, 0.1, 0.0]) * fp
f = fhook + fpb
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'], fp)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2])
m = (np.cross(self.getLeverArm(fdm, 'pushback'), fpb)
+ np.cross(self.getLeverArm(fdm, 'hook'), fhook))
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
def test_waypoint(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c310')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'c310', 'reset00'), False)
a = 20925646.32546 # WGS84 semimajor axis length in feet
b = 20855486.5951 # WGS84 semiminor axis length in feet
h = (a - b) / (a + b)
sq_h = h * h
p = math.pi * (a + b) * (1. + 3. * sq_h /
(10. + math.sqrt(4. - 3. * sq_h)))
fdm['ic/lat-geod-rad'] = 0.0
fdm['ic/long-gc-rad'] = 0.0
fdm['guidance/target_wp_latitude_rad'] = 0.0
# Check the distance and heading to other points on the equator.
for ilon in range(-5, 6):
lon = ilon * math.pi / 6.0
fdm['guidance/target_wp_longitude_rad'] = lon
fdm.run_ic()
distance = abs(lon * a)
self.assertAlmostEqual(fdm['guidance/wp-distance'],
distance,
delta=1.)
if abs(distance > 1E-9):
self.assertAlmostEqual(fdm['guidance/wp-heading-rad'],
lon * 0.5 * math.pi / abs(lon))
# Check the distance and heading to the North pole
fdm['guidance/target_wp_latitude_rad'] = 0.5 * math.pi
fdm['guidance/target_wp_longitude_rad'] = 0.0
for ilon in range(-5, 7):
lon = ilon * math.pi / 6.0
fdm['ic/long-gc-rad'] = lon
fdm.run_ic()
self.assertAlmostEqual(fdm['guidance/wp-distance'],
0.25 * p,
delta=1.)
self.assertAlmostEqual(fdm['guidance/wp-heading-rad'], 0.0)
# Check the distance and heading to the South pole
fdm['guidance/target_wp_latitude_rad'] = -0.5 * math.pi
fdm['guidance/target_wp_longitude_rad'] = 0.0
for ilon in range(-5, 7):
lon = ilon * math.pi / 6.0
fdm['ic/long-gc-rad'] = lon
fdm.run_ic()
self.assertAlmostEqual(fdm['guidance/wp-distance'],
0.25 * p,
delta=1.)
self.assertAlmostEqual(fdm['guidance/wp-heading-rad'], math.pi)
# Check the distance to the antipode
for ilat in range(-5, 6):
glat = ilat * math.pi / 12.
fdm['ic/lat-geod-rad'] = glat
fdm['guidance/target_wp_latitude_rad'] = -glat
for ilon in range(-5, 6):
lon = ilon * math.pi / 6.
fdm['ic/long-gc-rad'] = lon
fdm['guidance/target_wp_longitude_rad'] = lon + math.pi
fdm.run_ic()
self.assertAlmostEqual(fdm['guidance/wp-distance'],
0.5 * p,
delta=1.)
def testKinematicTiming(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c172r')
fdm.load_ic(
self.sandbox.path_to_jsbsim_file('aircraft', 'c172r', 'reset00'),
False)
fdm.run_ic()
self.assertEqual(fdm['fcs/flap-cmd-norm'], 0.0)
self.assertEqual(fdm['fcs/flap-pos-deg'], 0.0)
# Test the flap down sequence. The flap command is set to a value
# higher than 1.0 to check that JSBSim clamps it to 1.0
fdm['fcs/flap-cmd-norm'] = 1.5
t = fdm['simulation/sim-time-sec']
while t < 2.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 5. * t)
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 4.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 10. * (t - 1.))
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 5.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 30.)
fdm.run()
t = fdm['simulation/sim-time-sec']
# Test the flap up sequence with an interruption at 7.5 deg
fdm['fcs/flap-cmd-norm'] = 0.25
while t < 7.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'],
30. - 10. * (t - 5.))
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 7.5:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'],
10. - 5. * (t - 7.))
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 8.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 7.5)
fdm.run()
t = fdm['simulation/sim-time-sec']
# Complete the flap up sequence. The flap command is set to a value
# lower than 0.0 to check that JSBSim clamps it to 0.0
fdm['fcs/flap-cmd-norm'] = -1.
while t < 9.5:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'],
10. - 5. * (t - 7.5))
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 10.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 0.0)
fdm.run()
t = fdm['simulation/sim-time-sec']