def Compare(self, section):
# Rerun the script with the modified aircraft definition
self.sandbox.delete_csv_files()
fdm = CreateFDM(self.sandbox)
# We need to tell JSBSim that the aircraft definition is located in the
# directory build/.../aircraft
fdm.set_aircraft_path('aircraft')
fdm.set_output_directive(
self.sandbox.path_to_jsbsim_file('tests', 'output.xml'))
fdm.load_script(self.script)
fdm['simulation/randomseed'] = 0.0
fdm.run_ic()
ExecuteUntil(fdm, 50.0)
mod = pd.read_csv('output.csv', index_col=0)
# Check the data are matching i.e. the time steps are the same between
# the two data sets and that the output data are also the same.
self.assertTrue(isDataMatching(self.ref, mod))
# Whether the data is read from the aircraft definition file or from an
# external file, the results shall be exactly identical. Hence the
# precision set to 0.0.
diff = FindDifferences(self.ref, mod, 0.0)
self.assertEqual(len(diff),
0,
msg='\nTesting section "' + section + '"\n' +
diff.to_string())
def Compare(self, section):
# Rerun the script with the modified aircraft definition
self.sandbox.delete_csv_files()
fdm = CreateFDM(self.sandbox)
# We need to tell JSBSim that the aircraft definition is located in the
# directory build/.../aircraft
fdm.set_aircraft_path('aircraft')
fdm.set_output_directive(
self.sandbox.path_to_jsbsim_file('tests', 'output.xml'))
fdm.load_script(self.script)
fdm.set_property_value('simulation/randomseed', 0.0)
fdm.run_ic()
ExecuteUntil(fdm, 50.0)
mod = Table()
mod.ReadCSV(self.sandbox('output.csv'))
# Whether the data is read from the aircraft definition file or from an
# external file, the results shall be exactly identical. Hence the
# precision set to 0.0.
diff = self.ref.compare(mod, 0.0)
self.assertTrue(diff.empty(),
msg='\nTesting section "' + section + '"\n' +
repr(diff))
def testOrbit(self):
script_name = 'ball_orbit.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
# The time step is too small in ball_orbit so let's increase it to 0.1s
# for a quicker run
tree = et.parse(script_path)
run_tag = tree.getroot().find('./run')
run_tag.attrib['dt'] = '0.1'
tree.write(script_name)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_name)
# Switch the accel on
fdm['fcs/accelerometer/on'] = 1.0
fdm.run_ic()
while fdm.run():
self.assertAlmostEqual(fdm['fcs/accelerometer/X'], 0.0, delta=1E-8)
self.assertAlmostEqual(fdm['fcs/accelerometer/Y'], 0.0, delta=1E-8)
self.assertAlmostEqual(fdm['fcs/accelerometer/Z'], 0.0, delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-x-ft_sec2'],
0.0,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-y-ft_sec2'],
0.0,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-z-ft_sec2'],
0.0,
delta=1E-8)
del fdm
def test_actuator_rate_from_property(self):
# Second part of the test.
# #######################
#
# The test is run again but this time, <rate_limit> will be read from a
# property instead of being read from a value hard coded in the
# aircraft definition file. It has been reported in the bug 1503 of
# FlightGear that for such a configuration the <actuator> output is
# constantly increasing even if the input is null. For this script the
# <actuator> output is stored in the property
# fcs/left-aileron-pos-rad. The function ScriptExecution will monitor
# that property and if it changes then the test is failed.
tree = et.parse(os.path.join(self.path_to_jsbsim_aircrafts, self.aircraft_name+'.xml'))
actuator_element = tree.getroot().find('flight_control/channel/actuator//rate_limit/..')
rate_element = actuator_element.find('rate_limit')
flight_control_element = tree.getroot().find('flight_control')
property = et.SubElement(flight_control_element, 'property')
property.text = 'fcs/rate-limit-value'
property.attrib['value'] = rate_element.text
actuator_element = flight_control_element.find('channel/actuator//rate_limit/..')
rate_element = actuator_element.find('rate_limit')
rate_element.attrib['sense'] = 'decr'
rate_element.text = property.text
new_rate_element = et.SubElement(actuator_element, 'rate_limit')
new_rate_element.attrib['sense'] = 'incr'
new_rate_element.text = rate_element.text
tree.write(self.sandbox('aircraft', self.aircraft_name, self.aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
self.ScriptExecution(fdm)
del fdm
def test_CAS_ic(self):
script_name = 'Short_S23_3.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
# Add a Pitot angle to the Short S23
tree, aircraft_name, path_to_jsbsim_aircrafts = CopyAircraftDef(script_path, self.sandbox)
self.addPitotTube(tree.getroot(), 5.0)
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
# Read the CAS specified in the IC file
tree = et.parse(script_path)
use_element = tree.getroot().find('use')
IC_file = use_element.attrib['initialize']
tree = et.parse(os.path.join(path_to_jsbsim_aircrafts,
append_xml(IC_file)))
vc_tag = tree.getroot().find('./vc')
VCAS = float(vc_tag.text)
if 'unit' in vc_tag.attrib and vc_tag.attrib['unit'] == 'FT/SEC':
VCAS /= 1.68781 # Converts in kts
# Run the IC and check that the model is initialized correctly
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
fdm.run_ic()
self.assertAlmostEqual(fdm['ic/vc-kts'], VCAS, delta=1E-7)
self.assertAlmostEqual(fdm['velocities/vc-kts'], VCAS, delta=1E-7)
def SubProcessScriptExecution(self, sandbox, script_path, aircraft_path,
time_limit):
self.script_path = script_path
self.sandbox = sandbox
fdm = CreateFDM(sandbox)
fdm.set_aircraft_path(aircraft_path)
self.ScriptExecution(fdm, time_limit)
def Compare(self, section):
# Rerun the script with the modified aircraft definition
self.sandbox.delete_csv_files()
fdm = CreateFDM(self.sandbox)
# We need to tell JSBSim that the aircraft definition is located in the
# directory build/.../aircraft
fdm.set_aircraft_path('aircraft')
fdm.set_output_directive(self.sandbox.path_to_jsbsim_file('tests',
'output.xml'))
fdm.load_script(self.script)
fdm['simulation/randomseed'] = 0.0
fdm.run_ic()
ExecuteUntil(fdm, 50.0)
mod = pd.read_csv('output.csv', index_col=0)
# Check the data are matching i.e. the time steps are the same between
# the two data sets and that the output data are also the same.
self.assertTrue(isDataMatching(self.ref, mod))
# Whether the data is read from the aircraft definition file or from an
# external file, the results shall be exactly identical. Hence the
# precision set to 0.0.
diff = FindDifferences(self.ref, mod, 0.0)
self.assertEqual(len(diff), 0,
msg='\nTesting section "'+section+'"\n'+diff.to_string())
def testOrbit(self):
script_name = 'ball_orbit.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
# The time step is too small in ball_orbit so let's increase it to 0.1s
# for a quicker run
tree = et.parse(script_path)
run_tag = tree.getroot().find('./run')
run_tag.attrib['dt'] = '0.1'
tree.write(script_name)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_name)
# Switch the accel on
fdm['fcs/accelerometer/on'] = 1.0
fdm.run_ic()
while fdm.run():
self.assertAlmostEqual(fdm['fcs/accelerometer/X'], 0.0, delta=1E-8)
self.assertAlmostEqual(fdm['fcs/accelerometer/Y'], 0.0, delta=1E-8)
self.assertAlmostEqual(fdm['fcs/accelerometer/Z'], 0.0, delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-x-ft_sec2'], 0.0,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-y-ft_sec2'], 0.0,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-z-ft_sec2'], 0.0,
delta=1E-8)
del fdm
def test_actuator_rate_from_property(self):
# Second part of the test.
# #######################
#
# The test is run again but this time, <rate_limit> will be read from a
# property instead of being read from a value hard coded in the aircraft
# definition file. It has been reported in the bug 1503 of FlightGear
# that for such a configuration the <actuator> output is constantly
# increasing even if the input is null. For this script the <actuator>
# output is stored in the property fcs/left-aileron-pos-rad. The
# function ScriptExecution will monitor that property and if it changes
# then the test is failed.
tree = et.parse(os.path.join(self.path_to_jsbsim_aircrafts, self.aircraft_name + ".xml"))
actuator_element = tree.getroot().find("flight_control/channel/actuator//rate_limit/..")
rate_element = actuator_element.find("rate_limit")
flight_control_element = tree.getroot().find("flight_control")
property = et.SubElement(flight_control_element, "property")
property.text = "fcs/rate-limit-value"
property.attrib["value"] = rate_element.text
actuator_element = flight_control_element.find("channel/actuator//rate_limit/..")
rate_element = actuator_element.find("rate_limit")
rate_element.attrib["sense"] = "decr"
rate_element.text = property.text
new_rate_element = et.SubElement(actuator_element, "rate_limit")
new_rate_element.attrib["sense"] = "incr"
new_rate_element.text = rate_element.text
tree.write(self.sandbox("aircraft", self.aircraft_name, self.aircraft_name + ".xml"))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path("aircraft")
self.ScriptExecution(fdm)
del fdm
def test_actuator_rate_from_property(self):
# Second part of the test.
# #######################
#
# The test is run again but this time, <rate_limit> will be read from a
# property instead of being read from a value hard coded in the
# aircraft definition file. It has been reported in the bug 1503 of
# FlightGear that for such a configuration the <actuator> output is
# constantly increasing even if the input is null. For this script the
# <actuator> output is stored in the property
# fcs/left-aileron-pos-rad. The function ScriptExecution will monitor
# that property and if it changes then the test is failed.
tree = et.parse(os.path.join(self.path_to_jsbsim_aircrafts, self.aircraft_name+'.xml'))
actuator_element = tree.getroot().find('flight_control/channel/actuator//rate_limit/..')
rate_element = actuator_element.find('rate_limit')
flight_control_element = tree.getroot().find('flight_control')
property = et.SubElement(flight_control_element, 'property')
property.text = 'fcs/rate-limit-value'
property.attrib['value'] = rate_element.text
actuator_element = flight_control_element.find('channel/actuator//rate_limit/..')
rate_element = actuator_element.find('rate_limit')
rate_element.attrib['sense'] = 'decr'
rate_element.text = property.text
new_rate_element = et.SubElement(actuator_element, 'rate_limit')
new_rate_element.attrib['sense'] = 'incr'
new_rate_element.text = rate_element.text
tree.write(self.sandbox('aircraft', self.aircraft_name, self.aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
self.ScriptExecution(fdm)
del fdm
def test_pitot_angle(self):
script_name = 'ball_chute.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
# Add a Pitot angle to the Cessna 172
tree, aircraft_name, path_to_jsbsim_aircrafts = CopyAircraftDef(
script_path, self.sandbox)
root = tree.getroot()
pitot_angle_deg = 5.0
self.addPitotTube(root, 5.0)
contact_tag = root.find('./ground_reactions/contact')
contact_tag.attrib['type'] = 'STRUCTURE'
tree.write(
self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model('ball')
pitot_angle = pitot_angle_deg * math.pi / 180.
weight = fdm['inertia/weight-lbs']
spring_tag = contact_tag.find('./spring_coeff')
spring_coeff = float(spring_tag.text)
print("Weight=%d Spring=%d" % (weight, spring_coeff))
fdm['ic/h-sl-ft'] = weight / spring_coeff
fdm['forces/hold-down'] = 1.0
fdm.run_ic()
ExecuteUntil(fdm, 10.)
for i in range(36):
for j in range(-9, 10):
angle = math.pi * i / 18.0
angle2 = math.pi * j / 18.0
ca2 = math.cos(angle2)
fdm['atmosphere/wind-north-fps'] = 10. * math.cos(angle) * ca2
fdm['atmosphere/wind-east-fps'] = 10. * math.sin(angle) * ca2
fdm['atmosphere/wind-down-fps'] = 10. * math.sin(angle2)
fdm.run()
vg = fdm['velocities/vg-fps']
self.assertAlmostEqual(vg, 0.0, delta=1E-7)
vt = fdm['velocities/vt-fps']
self.assertAlmostEqual(vt, 10., delta=1E-7)
mach = vt / fdm['atmosphere/a-fps']
P = fdm['atmosphere/P-psf']
pt = P * math.pow(1 + 0.2 * mach * mach, 3.5)
psl = fdm['atmosphere/P-sl-psf']
rhosl = fdm['atmosphere/rho-sl-slugs_ft3']
A = math.pow((pt - P) / psl + 1.0, 1.0 / 3.5)
alpha = fdm['aero/alpha-rad']
beta = fdm['aero/beta-rad']
vc = math.sqrt(
7.0 * psl / rhosl *
(A - 1.0)) * math.cos(alpha + pitot_angle) * math.cos(beta)
self.assertAlmostEqual(fdm['velocities/vc-kts'],
max(0.0, vc) / 1.68781,
delta=1E-7)
def test_fuel_tanks_inertia(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'c1722.xml')
# The aircraft c172x does not contain an <inertia_factor> tag so we
# need to add one.
tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox)
tank_tag = tree.getroot().find('propulsion/tank')
inertia_factor = et.SubElement(tank_tag, 'inertia_factor')
inertia_factor.text = '1.0'
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
fdm.run_ic()
contents0 = fdm['propulsion/tank/contents-lbs']
ixx0 = fdm['propulsion/tank/local-ixx-slug_ft2']
iyy0 = fdm['propulsion/tank/local-iyy-slug_ft2']
izz0 = fdm['propulsion/tank/local-izz-slug_ft2']
# Remove half of the tank contents and check that the inertias are
# updated accordingly
fdm['propulsion/tank/contents-lbs'] = 0.5*contents0
contents = fdm['propulsion/tank/contents-lbs']
ixx = fdm['propulsion/tank/local-ixx-slug_ft2']
iyy = fdm['propulsion/tank/local-iyy-slug_ft2']
izz = fdm['propulsion/tank/local-izz-slug_ft2']
self.assertAlmostEqual(contents, 0.5*contents0, delta=1E-7,
msg="The tank content (%f lbs) should be %f lbs" % (contents, 0.5*contents0))
self.assertAlmostEqual(ixx, 0.5*ixx0, delta=1E-7,
msg="The tank inertia Ixx (%f slug*ft^2) should be %f slug*ft^2" % (ixx, 0.5*ixx0))
self.assertAlmostEqual(iyy, 0.5*iyy0, delta=1E-7,
msg="The tank inertia Iyy (%f slug*ft^2) should be %f slug*ft^2" % (iyy, 0.5*iyy0))
self.assertAlmostEqual(izz, 0.5*izz0, delta=1E-7,
msg="The tank inertia Izz (%f slug*ft^2) should be %f slug*ft^2" % (izz, 0.5*izz0))
# Execute the script and check that the fuel inertias have been updated
# along with the consumption.
ExecuteUntil(fdm, 200.0)
contents = fdm['propulsion/tank/contents-lbs']
ixx = fdm['propulsion/tank/local-ixx-slug_ft2']
iyy = fdm['propulsion/tank/local-iyy-slug_ft2']
izz = fdm['propulsion/tank/local-izz-slug_ft2']
contents_ratio = contents / contents0
ixx_ratio = ixx / ixx0
iyy_ratio = iyy / iyy0
izz_ratio = izz / izz0
self.assertAlmostEqual(contents_ratio, ixx_ratio, delta=1E-7,
msg="Ixx does not vary as the tank content does\nIxx ratio=%f\nContents ratio=%f" % (ixx_ratio, contents_ratio))
self.assertAlmostEqual(contents_ratio, iyy_ratio, delta=1E-7,
msg="Iyy does not vary as the tank content does\nIyy ratio=%f\nContents ratio=%f" % (iyy_ratio, contents_ratio))
self.assertAlmostEqual(contents_ratio, izz_ratio, delta=1E-7,
msg="Izz does not vary as the tank content does\nIzz ratio=%f\nContents ratio=%f" % (izz_ratio, contents_ratio))
def test_fuel_tanks_inertia(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'c1722.xml')
# The aircraft c172x does not contain an <inertia_factor> tag so we need
# to add one.
tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox)
tank_tag = tree.getroot().find('./propulsion/tank')
inertia_factor = et.SubElement(tank_tag, 'inertia_factor')
inertia_factor.text = '1.0'
tree.write(self.sandbox('aircraft', aircraft_name, aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
fdm.run_ic()
contents0 = fdm.get_property_value('propulsion/tank/contents-lbs')
ixx0 = fdm.get_property_value('propulsion/tank/local-ixx-slug_ft2')
iyy0 = fdm.get_property_value('propulsion/tank/local-iyy-slug_ft2')
izz0 = fdm.get_property_value('propulsion/tank/local-izz-slug_ft2')
# Remove half of the tank contents and check that the inertias are
# updated accordingly
fdm.set_property_value('propulsion/tank/contents-lbs', 0.5*contents0)
contents = fdm.get_property_value('propulsion/tank/contents-lbs')
ixx = fdm.get_property_value('propulsion/tank/local-ixx-slug_ft2')
iyy = fdm.get_property_value('propulsion/tank/local-iyy-slug_ft2')
izz = fdm.get_property_value('propulsion/tank/local-izz-slug_ft2')
self.assertTrue(abs(contents-0.5*contents0) < 1E-7,
msg="The tank content (%f lbs) should be %f lbs" % (contents, 0.5*contents0))
self.assertTrue(abs(ixx-0.5*ixx0) < 1E-7,
msg="The tank inertia Ixx (%f slug*ft^2) should be %f slug*ft^2" % (ixx, 0.5*ixx0))
self.assertTrue(abs(iyy-0.5*iyy0) < 1E-7,
msg="The tank inertia Iyy (%f slug*ft^2) should be %f slug*ft^2" % (iyy, 0.5*iyy0))
self.assertTrue(abs(izz-0.5*izz0) < 1E-7,
msg="The tank inertia Izz (%f slug*ft^2) should be %f slug*ft^2" % (izz, 0.5*izz0))
# Execute the script and check that the fuel inertias have been updated
# along with the consumption.
ExecuteUntil(fdm, 200.0)
contents = fdm.get_property_value('propulsion/tank/contents-lbs')
ixx = fdm.get_property_value('propulsion/tank/local-ixx-slug_ft2')
iyy = fdm.get_property_value('propulsion/tank/local-iyy-slug_ft2')
izz = fdm.get_property_value('propulsion/tank/local-izz-slug_ft2')
contents_ratio = contents / contents0
ixx_ratio = ixx / ixx0
iyy_ratio = iyy / iyy0
izz_ratio = izz / izz0
self.assertTrue(abs(contents_ratio - ixx_ratio) < 1E-7,
msg="Ixx does not vary as the tank content does\nIxx ratio=%f\nContents ratio=%f" % (ixx_ratio, contents_ratio))
self.assertTrue(abs(contents_ratio - iyy_ratio) < 1E-7,
msg="Iyy does not vary as the tank content does\nIyy ratio=%f\nContents ratio=%f" % (iyy_ratio, contents_ratio))
self.assertTrue(abs(contents_ratio - izz_ratio) < 1E-7,
msg="Izz does not vary as the tank content does\nIzz ratio=%f\nContents ratio=%f" % (izz_ratio, contents_ratio))
def test_pitot_angle(self):
script_name = 'ball_chute.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
# Add a Pitot angle to the Cessna 172
tree, aircraft_name, path_to_jsbsim_aircrafts = CopyAircraftDef(script_path, self.sandbox)
root = tree.getroot()
pitot_angle_deg = 5.0
self.addPitotTube(root, 5.0)
contact_tag = root.find('./ground_reactions/contact')
contact_tag.attrib['type'] = 'STRUCTURE'
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model('ball')
pitot_angle = pitot_angle_deg * math.pi / 180.
weight = fdm['inertia/weight-lbs']
spring_tag = contact_tag.find('./spring_coeff')
spring_coeff = float(spring_tag.text)
print "Weight=%d Spring=%d" % (weight, spring_coeff)
fdm['ic/h-sl-ft'] = weight / spring_coeff
fdm['forces/hold-down'] = 1.0
fdm.run_ic()
ExecuteUntil(fdm, 10.)
for i in xrange(36):
for j in xrange(-9, 10):
angle = math.pi * i / 18.0
angle2 = math.pi * j / 18.0
ca2 = math.cos(angle2)
fdm['atmosphere/wind-north-fps'] = 10. * math.cos(angle) * ca2
fdm['atmosphere/wind-east-fps'] = 10. * math.sin(angle) * ca2
fdm['atmosphere/wind-down-fps'] = 10. * math.sin(angle2)
fdm.run()
vg = fdm['velocities/vg-fps']
self.assertAlmostEqual(vg, 0.0, delta=1E-7)
vt = fdm['velocities/vt-fps']
self.assertAlmostEqual(vt, 10., delta=1E-7)
mach = vt / fdm['atmosphere/a-fps']
P = fdm['atmosphere/P-psf']
pt = P * math.pow(1+0.2*mach*mach, 3.5)
psl = fdm['atmosphere/P-sl-psf']
rhosl = fdm['atmosphere/rho-sl-slugs_ft3']
A = math.pow((pt-P)/psl+1.0, 1.0/3.5)
alpha = fdm['aero/alpha-rad']
beta = fdm['aero/beta-rad']
vc = math.sqrt(7.0*psl/rhosl*(A-1.0))*math.cos(alpha+pitot_angle)*math.cos(beta)
self.assertAlmostEqual(fdm['velocities/vc-kts'],
max(0.0, vc) / 1.68781, delta=1E-7)
def testSteadyFlight(self):
script_name = 'c1722.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_script(script_path)
# Switch the accel on
fdm['fcs/accelerometer/on'] = 1.0
# Use the standard gravity (i.e. GM/r^2)
fdm['simulation/gravity-model'] = 0
# Select an orientation such that frame transformations simplify
fdm['ic/psi-true-rad'] = 0.0
fdm.run_ic()
ExecuteUntil(fdm, 0.1)
fdm['simulation/do_simple_trim'] = 1
r = fdm['position/radius-to-vehicle-ft']
pitch = fdm['attitude/theta-rad']
roll = fdm['attitude/phi-rad']
latitude = fdm['position/lat-gc-rad']
g = fdm['accelerations/gravity-ft_sec2']
omega = 0.00007292115 # Earth rotation rate in rad/sec
fc = r * math.cos(latitude) * omega * omega # Centrifugal force
uvw = np.array(fdm.get_propagate().get_uvw().T)[0]
Omega = omega * np.array([
math.cos(pitch - latitude),
math.sin(pitch - latitude) * math.sin(roll),
math.sin(pitch - latitude) * math.cos(roll)
])
# Compute the acceleration measured by the accelerometer as the sum of
# the gravity and the centrifugal and Coriolis forces.
fa_yz = (fc * math.cos(latitude - pitch) - g * math.cos(pitch))
fa = np.array([(fc * math.sin(latitude - pitch) + g * math.sin(pitch)),
fa_yz * math.sin(roll), fa_yz * math.cos(roll)
]) + np.cross(2.0 * Omega, uvw)
# After the trim we are close to the equilibrium but there remains a
# small residual that we have to take the bias into account
fax = fa[0] + fdm['accelerations/udot-ft_sec2']
fay = fa[1] + fdm['accelerations/vdot-ft_sec2']
faz = fa[2] + fdm['accelerations/wdot-ft_sec2']
# Deltas are relaxed because the tolerances of the trimming algorithm
# are quite relaxed themselves.
self.assertAlmostEqual(fdm['fcs/accelerometer/X'], fax, delta=1E-6)
self.assertAlmostEqual(fdm['fcs/accelerometer/Y'], fay, delta=1E-4)
self.assertAlmostEqual(fdm['fcs/accelerometer/Z'], faz, delta=1E-5)
del fdm
def test_grain_tanks_content(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'J2460.xml')
tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox)
id = 0
for tank in tree.getroot().findall('propulsion/tank'):
grain_config = tank.find('grain_config')
if grain_config and grain_config.attrib['type'] == 'CYLINDRICAL':
break
++id
capacity = float(tank.find('capacity').text)
tank.find('contents').text = str(0.5 * capacity)
tree.write(
self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml'))
radius_tag = tank.find('radius')
radius = float(radius_tag.text)
if 'unit' in radius_tag.attrib and radius_tag.attrib['unit'] == 'IN':
radius /= 12.0
bore_diameter_tag = tank.find('grain_config/bore_diameter')
bore_radius = 0.5 * float(bore_diameter_tag.text)
if 'unit' in bore_diameter_tag.attrib and bore_diameter_tag.attrib[
'unit'] == 'IN':
bore_radius /= 12.0
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
fdm.run_ic()
tank_name = 'propulsion/tank[%g]' % (id, )
self.assertAlmostEqual(fdm[tank_name + '/contents-lbs'],
0.5 * capacity)
fdm['propulsion/tank/contents-lbs'] = capacity
mass = capacity / 32.174049 # Converting lbs to slugs
ixx = 0.5 * mass * (radius * radius + bore_radius * bore_radius)
self.assertAlmostEqual(fdm[tank_name + 'local-ixx-slug_ft2'], ixx)
del fdm
tank.find('contents').text = '0.0'
tree.write(
self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
fdm.run_ic()
self.assertAlmostEqual(fdm[tank_name + '/contents-lbs'], 0.0)
fdm['propulsion/tank/contents-lbs'] = capacity
def testSteadyFlight(self):
script_name = 'c1722.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_script(script_path)
# Switch the accel on
fdm['fcs/accelerometer/on'] = 1.0
# Use the standard gravity (i.e. GM/r^2)
fdm['simulation/gravity-model'] = 0
# Select an orientation such that frame transformations simplify
fdm['ic/psi-true-rad'] = 0.0
fdm.run_ic()
ExecuteUntil(fdm, 0.1)
fdm['simulation/do_simple_trim'] = 1
r = fdm['position/radius-to-vehicle-ft']
pitch = fdm['attitude/theta-rad']
roll = fdm['attitude/phi-rad']
latitude = fdm['position/lat-gc-rad']
g = fdm['accelerations/gravity-ft_sec2']
omega = 0.00007292115 # Earth rotation rate in rad/sec
fc = r * math.cos(latitude) * omega * omega # Centrifugal force
uvw = np.array(fdm.get_propagate().get_uvw().T)[0]
Omega = omega * np.array([math.cos(pitch - latitude),
math.sin(pitch - latitude) * math.sin(roll),
math.sin(pitch - latitude) * math.cos(roll)])
# Compute the acceleration measured by the accelerometer as the sum of
# the gravity and the centrifugal and Coriolis forces.
fa_yz = (fc * math.cos(latitude - pitch) - g * math.cos(pitch))
fa = np.array([(fc * math.sin(latitude - pitch) + g * math.sin(pitch)),
fa_yz * math.sin(roll),
fa_yz * math.cos(roll)]) + np.cross(2.0*Omega, uvw)
# After the trim we are close to the equilibrium but there remains a
# small residual that we have to take the bias into account
fax = fa[0] + fdm['accelerations/udot-ft_sec2']
fay = fa[1] + fdm['accelerations/vdot-ft_sec2']
faz = fa[2] + fdm['accelerations/wdot-ft_sec2']
# Deltas are relaxed because the tolerances of the trimming algorithm
# are quite relaxed themselves.
self.assertAlmostEqual(fdm['fcs/accelerometer/X'], fax, delta=1E-6)
self.assertAlmostEqual(fdm['fcs/accelerometer/Y'], fay, delta=1E-4)
self.assertAlmostEqual(fdm['fcs/accelerometer/Z'], faz, delta=1E-5)
del fdm
def CheckRateLimit(script_path, input_prop, output_prop, incr_limit, decr_limit):
fdm = CreateFDM(sandbox)
fdm.set_aircraft_path('aircraft')
ScriptExecution(fdm, script_path, 1.0)
fdm.set_property_value(input_prop, 1.0)
CheckRateValue(fdm, output_prop, incr_limit)
fdm.set_property_value(input_prop, 0.0)
CheckRateValue(fdm, output_prop, decr_limit)
def test_grain_tanks_content(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'J2460.xml')
tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox)
id = 0
for tank in tree.getroot().findall('propulsion/tank'):
grain_config = tank.find('grain_config')
if grain_config and grain_config.attrib['type'] == 'CYLINDRICAL':
break
++id
capacity = float(tank.find('capacity').text)
tank.find('contents').text = str(0.5*capacity)
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
radius_tag = tank.find('radius')
radius = float(radius_tag.text)
if 'unit' in radius_tag.attrib and radius_tag.attrib['unit'] == 'IN':
radius /= 12.0
bore_diameter_tag = tank.find('grain_config/bore_diameter')
bore_radius = 0.5*float(bore_diameter_tag.text)
if 'unit' in bore_diameter_tag.attrib and bore_diameter_tag.attrib['unit'] == 'IN':
bore_radius /= 12.0
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
fdm.run_ic()
tank_name = 'propulsion/tank[%g]' % (id,)
self.assertAlmostEqual(fdm[tank_name+'/contents-lbs'], 0.5*capacity)
fdm['propulsion/tank/contents-lbs'] = capacity
mass = capacity / 32.174049 # Converting lbs to slugs
ixx = 0.5 * mass * (radius * radius + bore_radius*bore_radius)
self.assertAlmostEqual(fdm[tank_name+'local-ixx-slug_ft2'], ixx)
del fdm
tank.find('contents').text = '0.0'
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
fdm.run_ic()
self.assertAlmostEqual(fdm[tank_name+'/contents-lbs'], 0.0)
fdm['propulsion/tank/contents-lbs'] = capacity
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_moment(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts',
'ball_chute.xml')
tree, aircraft_name, aircraft_path = CopyAircraftDef(
script_path, self.sandbox)
extReact_element = tree.getroot().find('external_reactions')
moment_element = et.SubElement(extReact_element, 'moment')
moment_element.attrib['name'] = 'parachute'
moment_element.attrib['frame'] = 'WIND'
direction_element = et.SubElement(moment_element, 'direction')
x_element = et.SubElement(direction_element, 'x')
x_element.text = '0.2'
y_element = et.SubElement(direction_element, 'y')
y_element.text = '0.0'
z_element = et.SubElement(direction_element, 'z')
z_element.text = '-1.5'
tree.write(
self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
fdm.run_ic()
mDir = np.array([0.2, 0.0, -1.5])
mDir /= np.linalg.norm(mDir)
self.assertAlmostEqual(fdm['external_reactions/parachute/l'], mDir[0])
self.assertAlmostEqual(fdm['external_reactions/parachute/m'], mDir[1])
self.assertAlmostEqual(fdm['external_reactions/parachute/n'], mDir[2])
fdm['external_reactions/parachute/magnitude-lbsft'] = -3.5
while fdm.run():
Tw2b = fdm.get_auxiliary().get_Tw2b()
mag = fdm['aero/qbar-psf'] * fdm[
'fcs/parachute_reef_pos_norm'] * 20.0
f = Tw2b * np.mat([-1.0, 0.0, 0.0]).T * mag
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0, 0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1, 0])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2, 0])
m = -3.5 * Tw2b * np.mat(mDir).T
fm = np.cross(self.getLeverArm(fdm, 'parachute'),
np.array([f[0, 0], f[1, 0], f[2, 0]]))
self.assertAlmostEqual(fdm['moments/l-external-lbsft'],
m[0, 0] + fm[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'],
m[1, 0] + fm[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'],
m[2, 0] + fm[2])
def steerType(self, hasSteerPosDeg, hasSteeringAngle, hasCastered):
self.tree.write(self.sandbox('aircraft', self.aircraft_name,
self.aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(self.script_path)
fdm.run_ic()
pm = fdm.get_property_manager()
self.assertTrue(pm.hasNode('fcs/steer-pos-deg') == hasSteerPosDeg)
self.assertTrue(pm.hasNode('gear/unit/steering-angle-deg')
== hasSteeringAngle)
self.assertTrue(pm.hasNode('gear/unit/castered') == hasCastered)
return fdm
def steerType(self, hasSteerPosDeg, hasSteeringAngle, hasCastered):
self.tree.write(self.sandbox('aircraft', self.aircraft_name,
self.aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(self.script_path)
fdm.run_ic()
pm = fdm.get_property_manager()
self.assertTrue(pm.hasNode('fcs/steer-pos-deg') == hasSteerPosDeg)
self.assertTrue(pm.hasNode('gear/unit/steering-angle-deg')
== hasSteeringAngle)
self.assertTrue(pm.hasNode('gear/unit/castered') == hasCastered)
return fdm
def testSteadyFlight(self):
script_name = 'c1722.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_script(script_path)
# Switch the accel on
fdm.set_property_value('fcs/accelerometer/on', 1.0)
# Use the standard gravity (i.e. GM/r^2)
fdm.set_property_value('simulation/gravity-model', 0)
# Simplifies the transformation to compare the accelerometer with the
# gravity
fdm.set_property_value('ic/psi-true-rad', 0.0)
fdm.run_ic()
while fdm.get_property_value('simulation/sim-time-sec') <= 0.5:
fdm.run()
fdm.set_property_value('simulation/do_simple_trim', 1)
ax = fdm.get_property_value('accelerations/udot-ft_sec2')
ay = fdm.get_property_value('accelerations/vdot-ft_sec2')
az = fdm.get_property_value('accelerations/wdot-ft_sec2')
g = fdm.get_property_value('accelerations/gravity-ft_sec2')
theta = fdm.get_property_value('attitude/theta-rad')
# There is a lag of one time step between the computations of the
# accelerations and the update of the accelerometer
fdm.run()
fax = fdm.get_property_value('fcs/accelerometer/X')
fay = fdm.get_property_value('fcs/accelerometer/Y')
faz = fdm.get_property_value('fcs/accelerometer/Z')
fax -= ax
fay -= ay
faz -= az
# Deltas are relaxed because the tolerances of the trimming algorithm
# are quite relaxed themselves.
self.assertAlmostEqual(faz / (g * math.cos(theta)), -1.0, delta=1E-5)
self.assertAlmostEqual(fax / (g * math.sin(theta)), 1.0, delta=1E-5)
self.assertAlmostEqual(math.sqrt(fax * fax + fay * fay + faz * faz) /
g,
1.0,
delta=1E-6)
del fdm
def CheckRateLimit(self, incr_limit, decr_limit):
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
self.ScriptExecution(fdm, 1.0)
fdm[self.input_prop] = 1.0
self.CheckRateValue(fdm, incr_limit)
fdm[self.input_prop] = 0.0
self.CheckRateValue(fdm, decr_limit)
# Because JSBSim internals use static pointers, we cannot rely on
# Python garbage collector to decide when the FDM is destroyed
# otherwise we can get dangling pointers.
del fdm
def test_moment(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts',
'ball_chute.xml')
tree, aircraft_name, aircraft_path = CopyAircraftDef(script_path,
self.sandbox)
extReact_element = tree.getroot().find('external_reactions')
moment_element = et.SubElement(extReact_element, 'moment')
moment_element.attrib['name'] = 'parachute'
moment_element.attrib['frame'] = 'WIND'
direction_element = et.SubElement(moment_element, 'direction')
x_element = et.SubElement(direction_element, 'x')
x_element.text = '0.2'
y_element = et.SubElement(direction_element, 'y')
y_element.text = '0.0'
z_element = et.SubElement(direction_element, 'z')
z_element.text = '-1.5'
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
fdm.run_ic()
mDir = np.array([0.2, 0.0, -1.5])
mDir /= np.linalg.norm(mDir)
self.assertAlmostEqual(fdm['external_reactions/parachute/l'], mDir[0])
self.assertAlmostEqual(fdm['external_reactions/parachute/m'], mDir[1])
self.assertAlmostEqual(fdm['external_reactions/parachute/n'], mDir[2])
fdm['external_reactions/parachute/magnitude-lbsft'] = -3.5
while fdm.run():
Tw2b = fdm.get_auxiliary().get_Tw2b()
mag = fdm['aero/qbar-psf'] * fdm['fcs/parachute_reef_pos_norm']*20.0
f = Tw2b * np.mat([-1.0, 0.0, 0.0]).T * mag
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0, 0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1, 0])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2, 0])
m = -3.5 * Tw2b * np.mat(mDir).T
fm = np.cross(self.getLeverArm(fdm,'parachute'),
np.array([f[0,0], f[1,0], f[2, 0]]))
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0, 0] + fm[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1, 0] + fm[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2, 0] + fm[2])
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 CheckRateLimit(self, input_prop, output_prop, incr_limit, decr_limit):
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
self.ScriptExecution(fdm, 1.0)
fdm[input_prop] = 1.0
self.CheckRateValue(fdm, output_prop, incr_limit)
fdm[input_prop] = 0.0
self.CheckRateValue(fdm, output_prop, decr_limit)
# Because JSBSim internals use static pointers, we cannot rely on
# Python garbage collector to decide when the FDM is destroyed
# otherwise we can get dangling pointers.
del fdm
def test_failhardover_without_clipto(self):
tree, flight_control_element, actuator_element = self.prepare_actuator(
)
rate_limit = float(actuator_element.find('rate_limit').text)
fail_hardover = actuator_element.attrib[
'name'] + "/malfunction/fail_hardover"
clipto = actuator_element.find('clipto')
clipmax = float(clipto.find('max').text)
actuator_element.remove(clipto)
output_file = os.path.join('aircraft', self.aircraft_name,
self.aircraft_name + '.xml')
tree.write(output_file)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(self.script_path)
fdm.run_ic()
# Displace the actuator in the maximum position.
fdm[self.input_prop] = clipmax
t = fdm['simulation/sim-time-sec']
dt = clipmax / rate_limit
while fdm['simulation/sim-time-sec'] <= t + dt:
fdm.run()
# Check the maximum position has been reached.
self.assertAlmostEqual(fdm[self.output_prop], clipmax)
# Trigger "fail hardover"
fdm[fail_hardover] = 1.0
t = fdm['simulation/sim-time-sec']
dt = clipmax / rate_limit
while fdm['simulation/sim-time-sec'] <= t + dt:
fdm.run()
# Check the actuator is failed in neutral position
self.assertAlmostEqual(fdm[self.output_prop], 0.0)
# Check that setting an input different from the neutral position does
# not result in a modification of the actuator position.
fdm[self.input_prop] = clipmax
t = fdm['simulation/sim-time-sec']
dt = clipmax / rate_limit
while fdm['simulation/sim-time-sec'] <= t + dt:
fdm.run()
self.assertAlmostEqual(fdm[self.output_prop], 0.0)
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 testSteadyFlight(self):
script_name = 'c1722.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_script(script_path)
# Switch the accel on
fdm.set_property_value('fcs/accelerometer/on', 1.0)
# Use the standard gravity (i.e. GM/r^2)
fdm.set_property_value('simulation/gravity-model', 0)
# Simplifies the transformation to compare the accelerometer with the
# gravity
fdm.set_property_value('ic/psi-true-rad', 0.0)
fdm.run_ic()
while fdm.get_property_value('simulation/sim-time-sec') <= 0.5:
fdm.run()
fdm.set_property_value('simulation/do_simple_trim', 1)
ax = fdm.get_property_value('accelerations/udot-ft_sec2')
ay = fdm.get_property_value('accelerations/vdot-ft_sec2')
az = fdm.get_property_value('accelerations/wdot-ft_sec2')
g = fdm.get_property_value('accelerations/gravity-ft_sec2')
theta = fdm.get_property_value('attitude/theta-rad')
# There is a lag of one time step between the computations of the
# accelerations and the update of the accelerometer
fdm.run()
fax = fdm.get_property_value('fcs/accelerometer/X')
fay = fdm.get_property_value('fcs/accelerometer/Y')
faz = fdm.get_property_value('fcs/accelerometer/Z')
fax -= ax
fay -= ay
faz -= az
# Deltas are relaxed because the tolerances of the trimming algorithm
# are quite relaxed themselves.
self.assertAlmostEqual(faz / (g * math.cos(theta)), -1.0, delta=1E-5)
self.assertAlmostEqual(fax / (g * math.sin(theta)), 1.0, delta=1E-5)
self.assertAlmostEqual(math.sqrt(fax*fax+fay*fay+faz*faz)/g, 1.0, delta=1E-6)
del fdm
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 testOnGround(self):
script_name = 'c1721.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_script(script_path)
# Switch the accel on
fdm.set_property_value('fcs/accelerometer/on', 1.0)
# Use the standard gravity (i.e. GM/r^2)
fdm.set_property_value('simulation/gravity-model', 0)
# Simplifies the transformation to compare the accelerometer with the
# gravity
fdm.set_property_value('ic/psi-true-rad', 0.0)
fdm.run_ic()
for i in xrange(500):
fdm.run()
ax = fdm.get_property_value('accelerations/udot-ft_sec2')
ay = fdm.get_property_value('accelerations/vdot-ft_sec2')
az = fdm.get_property_value('accelerations/wdot-ft_sec2')
g = fdm.get_property_value('accelerations/gravity-ft_sec2')
theta = fdm.get_property_value('attitude/theta-rad')
# There is a lag of one time step between the computations of the
# accelerations and the update of the accelerometer
fdm.run()
fax = fdm.get_property_value('fcs/accelerometer/X')
fay = fdm.get_property_value('fcs/accelerometer/Y')
faz = fdm.get_property_value('fcs/accelerometer/Z')
fax -= ax
faz -= az
self.assertAlmostEqual(fay, 0.0, delta=1E-6)
self.assertAlmostEqual(fax / (g * math.sin(theta)), 1.0, delta=1E-5)
self.assertAlmostEqual(faz / (g * math.cos(theta)), -1.0, delta=1E-7)
del fdm
def testOnGround(self):
script_name = 'c1721.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_script(script_path)
# Switch the accel on
fdm.set_property_value('fcs/accelerometer/on', 1.0)
# Use the standard gravity (i.e. GM/r^2)
fdm.set_property_value('simulation/gravity-model', 0)
# Simplifies the transformation to compare the accelerometer with the
# gravity
fdm.set_property_value('ic/psi-true-rad', 0.0)
fdm.run_ic()
for i in xrange(500):
fdm.run()
ax = fdm.get_property_value('accelerations/udot-ft_sec2')
ay = fdm.get_property_value('accelerations/vdot-ft_sec2')
az = fdm.get_property_value('accelerations/wdot-ft_sec2')
g = fdm.get_property_value('accelerations/gravity-ft_sec2')
theta = fdm.get_property_value('attitude/theta-rad')
# There is a lag of one time step between the computations of the
# accelerations and the update of the accelerometer
fdm.run()
fax = fdm.get_property_value('fcs/accelerometer/X')
fay = fdm.get_property_value('fcs/accelerometer/Y')
faz = fdm.get_property_value('fcs/accelerometer/Z')
fax -= ax
faz -= az
self.assertAlmostEqual(fay, 0.0, delta=1E-6)
self.assertAlmostEqual(fax / (g * math.sin(theta)), 1.0, delta=1E-5)
self.assertAlmostEqual(faz / (g * math.cos(theta)), -1.0, delta=1E-7)
del fdm
def test_alt_mod_vs_CAS(self):
script_name = 'Short_S23_3.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
# Add a Pitot angle to the Short S23
tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox)
self.addPitotTube(tree.getroot(), 10.0)
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model('Short_S23')
fdm['ic/beta-deg'] = 15.0 # Add some sideslip
fdm['ic/vc-kts'] = 172.0
fdm['ic/h-sl-ft'] = 15000.
self.assertAlmostEqual(fdm['ic/vc-kts'], 172.0, delta=1E-7)
self.assertAlmostEqual(fdm['ic/beta-deg'], 15.0, delta=1E-7)
fdm.run_ic()
self.assertAlmostEqual(fdm['velocities/vc-kts'], 172.0, delta=1E-7)
self.assertAlmostEqual(fdm['aero/beta-deg'], 15.0, delta=1E-7)
def test_no_script(self):
fdm = CreateFDM(self.sandbox)
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.set_aircraft_path(aircraft_path)
fdm.load_model('c172x')
aircraft_path = os.path.join(self.sandbox.elude(aircraft_path), 'c172x')
fdm.load_ic(os.path.join(aircraft_path, 'reset01.xml'), False)
fdm.run_ic()
self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0)
ExecuteUntil(fdm, 5.0)
t = fdm.get_property_value('simulation/sim-time-sec')
fdm.set_property_value('simulation/do_simple_trim', 1)
self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), t)
fdm.reset_to_initial_conditions(1)
self.assertEqual(fdm.get_property_value('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.set_aircraft_path(aircraft_path)
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_regression_bug_1503(self):
# First, the execution time of the script c1724.xml is measured. It
# will be used as a reference to check if JSBSim hangs or not.
fdm = CreateFDM(self.sandbox)
start_time = time.time()
self.ScriptExecution(fdm)
exec_time = time.time() - start_time
del fdm
# Now the copy of the aircraft definition file will be altered: the
# <rate_limit> element is split in two: one with the 'decr' sense, the
# other with 'incr' sense.
actuator_element = self.tree.getroot().find(
'flight_control/channel/actuator//rate_limit/..')
rate_element = actuator_element.find('rate_limit')
rate_element.attrib['sense'] = 'decr'
new_rate_element = et.SubElement(actuator_element, 'rate_limit')
new_rate_element.attrib['sense'] = 'incr'
new_rate_element.text = str(float(rate_element.text) * 0.5)
self.tree.write(
self.sandbox('aircraft', self.aircraft_name,
self.aircraft_name + '.xml'))
# Run the script with the modified aircraft
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
# A new process is created that launches the script. We wait for 10
# times the reference execution time for the script completion. Beyond
# that time, if the process is not completed, it is terminated and the
# test is failed.
p = Process(target=self.ScriptExecution, args=(fdm, ))
p.start()
p.join(exec_time * 10.0) # Wait 10 times the reference time
alive = p.is_alive()
if alive:
p.terminate()
self.assertFalse(alive, msg="The script has hanged")
def Compare(self, section):
# Rerun the script with the modified aircraft definition
self.sandbox.delete_csv_files()
fdm = CreateFDM(self.sandbox)
# We need to tell JSBSim that the aircraft definition is located in the
# directory build/.../aircraft
fdm.set_aircraft_path('aircraft')
fdm.set_output_directive(self.sandbox.path_to_jsbsim_file('tests', 'output.xml'))
fdm.load_script(self.script)
fdm.set_property_value('simulation/randomseed', 0.0)
fdm.run_ic()
ExecuteUntil(fdm, 50.0)
mod = Table()
mod.ReadCSV(self.sandbox('output.csv'))
# Whether the data is read from the aircraft definition file or from an
# external file, the results shall be exactly identical. Hence the
# precision set to 0.0.
diff = self.ref.compare(mod, 0.0)
self.assertTrue(diff.empty(),
msg='\nTesting section "'+section+'"\n'+repr(diff))
def test_regression_bug_1503(self):
# First, the execution time of the script c1724.xml is measured. It
# will be used as a reference to check if JSBSim hangs or not.
fdm = CreateFDM(self.sandbox)
start_time = time.time()
self.ScriptExecution(fdm)
exec_time = time.time() - start_time
del fdm
# Now the copy of the aircraft definition file will be altered: the
# <rate_limit> element is split in two: one with the 'decr' sense, the
# other with 'incr' sense.
actuator_element = self.tree.getroot().find('flight_control/channel/actuator//rate_limit/..')
rate_element = actuator_element.find('rate_limit')
rate_element.attrib['sense'] = 'decr'
new_rate_element = et.SubElement(actuator_element, 'rate_limit')
new_rate_element.attrib['sense'] = 'incr'
new_rate_element.text = str(float(rate_element.text) * 0.5)
self.tree.write(self.sandbox('aircraft', self.aircraft_name,
self.aircraft_name+'.xml'))
# Run the script with the modified aircraft
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
# A new process is created that launches the script. We wait for 10
# times the reference execution time for the script completion. Beyond
# that time, if the process is not completed, it is terminated and the
# test is failed.
p = Process(target=self.ScriptExecution, args=(fdm,))
p.start()
p.join(exec_time * 10.0) # Wait 10 times the reference time
alive = p.is_alive()
if alive:
p.terminate()
self.assertFalse(alive, msg="The script has hanged")
def testOnGround(self):
script_name = 'c1721.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_script(script_path)
# Switch the accel on
fdm['fcs/accelerometer/on'] = 1.0
# Use the standard gravity (i.e. GM/r^2)
fdm['simulation/gravity-model'] = 0
# Simplifies the transformation to compare the accelerometer with the
# gravity
fdm['ic/psi-true-rad'] = 0.0
fdm.run_ic()
for i in xrange(1000):
fdm.run()
r = fdm['position/radius-to-vehicle-ft']
g = fdm['accelerations/gravity-ft_sec2']
latitude = fdm['position/lat-gc-rad']
pitch = fdm['attitude/theta-rad']
omega = 0.00007292115 # Earth rotation rate in rad/sec
fc = r * math.cos(latitude) * omega * omega
fax = fc * math.sin(latitude - pitch) + g * math.sin(pitch)
faz = fc * math.cos(latitude - pitch) - g * math.cos(pitch)
self.assertAlmostEqual(fdm['fcs/accelerometer/X'], fax, delta=1E-7)
self.assertAlmostEqual(fdm['fcs/accelerometer/Y'], 0.0, delta=1E-7)
self.assertAlmostEqual(fdm['fcs/accelerometer/Z'], faz, delta=1E-6)
del fdm
def testOnGround(self):
script_name = 'c1721.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_script(script_path)
# Switch the accel on
fdm['fcs/accelerometer/on'] = 1.0
# Use the standard gravity (i.e. GM/r^2)
fdm['simulation/gravity-model'] = 0
# Simplifies the transformation to compare the accelerometer with the
# gravity
fdm['ic/psi-true-rad'] = 0.0
fdm.run_ic()
for i in xrange(1000):
fdm.run()
r = fdm['position/radius-to-vehicle-ft']
g = fdm['accelerations/gravity-ft_sec2']
latitude = fdm['position/lat-gc-rad']
pitch = fdm['attitude/theta-rad']
omega = 0.00007292115 # Earth rotation rate in rad/sec
fc = r * math.cos(latitude) * omega * omega
fax = fc * math.sin(latitude - pitch) + g * math.sin(pitch)
faz = fc * math.cos(latitude - pitch) - g * math.cos(pitch)
self.assertAlmostEqual(fdm['fcs/accelerometer/X'], fax, delta=1E-7)
self.assertAlmostEqual(fdm['fcs/accelerometer/Y'], 0.0, delta=1E-7)
self.assertAlmostEqual(fdm['fcs/accelerometer/Z'], faz, delta=1E-6)
del fdm
class TestAeroFuncFrame(JSBSimTestCase):
def setUp(self):
JSBSimTestCase.setUp(self)
self.fdm = CreateFDM(self.sandbox)
self.script_path = self.sandbox.path_to_jsbsim_file('scripts',
'x153.xml')
self.tree, self.aircraft_name, b = CopyAircraftDef(self.script_path, self.sandbox)
self.aero2wind = np.mat(np.identity(3));
self.aero2wind[0,0] *= -1.0
self.aero2wind[2,2] *= -1.0
self.auxilliary = self.fdm.get_auxiliary()
def tearDown(self):
del self.fdm
JSBSimTestCase.tearDown(self)
def getTs2b(self):
alpha = self.fdm['aero/alpha-rad']
ca = math.cos(alpha)
sa = math.sin(alpha)
Ts2b = np.mat([[ca, 0., -sa],
[0., 1., 0.],
[sa, 0., ca]])
return Ts2b
def checkForcesAndMoments(self, getForces, getMoment, aeroFunc):
self.fdm.load_script(self.script_path)
self.fdm.run_ic()
rp = np.mat([self.fdm['metrics/aero-rp-x-in'],
-self.fdm['metrics/aero-rp-y-in'],
self.fdm['metrics/aero-rp-z-in']])
result = {}
while self.fdm.run():
for axis in aeroFunc.keys():
result[axis] = 0.0
for func in aeroFunc[axis]:
result[axis] += self.fdm[func]
Fa, Fb = getForces(result)
Tb2s = self.getTs2b().T
Fs = self.aero2wind * (Tb2s * Fb)
Mb_MRC = getMoment(result)
cg = np.mat([self.fdm['inertia/cg-x-in'],
-self.fdm['inertia/cg-y-in'],
self.fdm['inertia/cg-z-in']])
arm_ft = (cg - rp)/12.0 # Convert from inches to ft
Mb = Mb_MRC + np.cross(arm_ft, Fb.T)
Tb2w = self.auxilliary.get_Tb2w()
Mw = Tb2w * Mb.T
Ms = Tb2s * Mb.T
self.assertAlmostEqual(Fa[0,0], self.fdm['forces/fwx-aero-lbs'])
self.assertAlmostEqual(Fa[1,0], self.fdm['forces/fwy-aero-lbs'])
self.assertAlmostEqual(Fa[2,0], self.fdm['forces/fwz-aero-lbs'])
self.assertAlmostEqual(Fb[0,0], self.fdm['forces/fbx-aero-lbs'])
self.assertAlmostEqual(Fb[1,0], self.fdm['forces/fby-aero-lbs'])
self.assertAlmostEqual(Fb[2,0], self.fdm['forces/fbz-aero-lbs'])
self.assertAlmostEqual(Fs[0,0], self.fdm['forces/fsx-aero-lbs'])
self.assertAlmostEqual(Fs[1,0], self.fdm['forces/fsy-aero-lbs'])
self.assertAlmostEqual(Fs[2,0], self.fdm['forces/fsz-aero-lbs'])
self.assertAlmostEqual(Mb[0,0], self.fdm['moments/l-aero-lbsft'])
self.assertAlmostEqual(Mb[0,1], self.fdm['moments/m-aero-lbsft'])
self.assertAlmostEqual(Mb[0,2], self.fdm['moments/n-aero-lbsft'])
self.assertAlmostEqual(Ms[0,0], self.fdm['moments/roll-stab-aero-lbsft'])
self.assertAlmostEqual(Ms[1,0], self.fdm['moments/pitch-stab-aero-lbsft'])
self.assertAlmostEqual(Ms[2,0], self.fdm['moments/yaw-stab-aero-lbsft'])
self.assertAlmostEqual(Mw[0,0], self.fdm['moments/roll-wind-aero-lbsft'])
self.assertAlmostEqual(Mw[1,0], self.fdm['moments/pitch-wind-aero-lbsft'])
self.assertAlmostEqual(Mw[2,0], self.fdm['moments/yaw-wind-aero-lbsft'])
def checkAerodynamicsFrame(self, newAxisName, getForces, getMoment, frame):
aeroFunc = {}
for axis in self.tree.findall('aerodynamics/axis'):
axisName = newAxisName[axis.attrib['name']]
axis.attrib['name'] = axisName
if frame:
axis.attrib['frame'] = frame
aeroFunc[axisName] = []
for func in axis.findall('function'):
aeroFunc[axisName].append(func.attrib['name'])
if (frame == 'BODY' or len(frame) == 0) and (axisName == 'X' or axisName == 'Z'):
# Convert the signs of X and Z forces so that the force
# along X is directed backward and the force along Z is
# directed upward.
product_tag = func.find('product')
value_tag = et.SubElement(product_tag, 'value')
value_tag.text = '-1.0'
self.tree.write(self.sandbox('aircraft', self.aircraft_name,
self.aircraft_name+'.xml'))
self.fdm.set_aircraft_path('aircraft')
self.checkForcesAndMoments(getForces, getMoment, aeroFunc)
def checkBodyFrame(self, frame):
newAxisName = {'DRAG': 'X', 'SIDE': 'Y', 'LIFT': 'Z',
'ROLL': 'ROLL', 'PITCH': 'PITCH', 'YAW': 'YAW'}
def getForces(result):
Tb2w = self.auxilliary.get_Tb2w()
Fb = np.mat([result['X'], result['Y'], result['Z']]).T
Fw = Tb2w * Fb
Fa = self.aero2wind * Fw
return Fa, Fb
def getMoment(result):
return np.mat([result['ROLL'], result['PITCH'], result['YAW']])
self.checkAerodynamicsFrame(newAxisName, getForces, getMoment, '')
def testBodyFrame(self):
self.checkBodyFrame('')
def testBodyFrameAltSyntax(self):
self.checkBodyFrame('BODY')
def testAxialFrame(self):
newAxisName = {'DRAG': 'AXIAL', 'SIDE': 'SIDE', 'LIFT': 'NORMAL',
'ROLL': 'ROLL', 'PITCH': 'PITCH', 'YAW': 'YAW'}
def getForces(result):
Tb2w = self.auxilliary.get_Tb2w()
Fnative = np.mat([result['AXIAL'], result['SIDE'], result['NORMAL']]).T
Fb = self.aero2wind * Fnative
Fw = Tb2w * Fb
Fa = self.aero2wind * Fw
return Fa, Fb
def getMoment(result):
return np.mat([result['ROLL'], result['PITCH'], result['YAW']])
self.checkAerodynamicsFrame(newAxisName, getForces, getMoment, '')
def testWindFrame(self):
newAxisName = {'DRAG': 'X', 'SIDE': 'Y', 'LIFT': 'Z',
'ROLL': 'ROLL', 'PITCH': 'PITCH', 'YAW': 'YAW'}
def getForces(result):
Tw2b = self.auxilliary.get_Tw2b()
Fa = np.mat([result['X'], result['Y'], result['Z']]).T
Fw = self.aero2wind * Fa
Fb = Tw2b * Fw
return Fa, Fb
def getMoment(result):
Tw2b = self.auxilliary.get_Tw2b()
Mw = np.mat([result['ROLL'], result['PITCH'], result['YAW']]).T
Mb = Tw2b*Mw
return Mb.T
self.checkAerodynamicsFrame(newAxisName, getForces, getMoment, 'WIND')
def testAeroFrame(self):
aeroFunc = {}
for axis in self.tree.findall('aerodynamics/axis'):
axisName = axis.attrib['name']
aeroFunc[axisName] = []
for func in axis.findall('function'):
aeroFunc[axisName].append(func.attrib['name'])
def getForces(result):
Tw2b = self.auxilliary.get_Tw2b()
Fa = np.mat([result['DRAG'], result['SIDE'], result['LIFT']]).T
Fw = self.aero2wind * Fa
Fb = Tw2b * Fw
return Fa, Fb
def getMoment(result):
return np.mat([result['ROLL'], result['PITCH'], result['YAW']])
self.checkForcesAndMoments(getForces, getMoment, aeroFunc)
def testStabilityFrame(self):
newAxisName = {'DRAG': 'X', 'SIDE': 'Y', 'LIFT': 'Z',
'ROLL': 'ROLL', 'PITCH': 'PITCH', 'YAW': 'YAW'}
def getForces(result):
Tb2w = self.auxilliary.get_Tb2w()
Ts2b = self.getTs2b()
Fs = np.mat([result['X'], result['Y'], result['Z']]).T
Fb = Ts2b * (self.aero2wind * Fs)
Fw = Tb2w * Fb
Fa = self.aero2wind * Fw
return Fa, Fb
def getMoment(result):
Ts2b = self.getTs2b()
Ms = np.mat([result['ROLL'], result['PITCH'], result['YAW']]).T
Mb = Ts2b*Ms
return Mb.T
self.checkAerodynamicsFrame(newAxisName, getForces, getMoment, 'STABILITY')
def test_point_mass_inertia(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'J2460.xml')
fdm = CreateFDM(self.sandbox)
fdm.set_output_directive(self.sandbox.path_to_jsbsim_file('tests',
'output.xml'))
fdm.load_script(script_path)
fdm.run_ic()
ExecuteUntil(fdm, 50.0)
ref = Table()
ref.ReadCSV(self.sandbox("output.csv"))
tree, aircraft_name, path_to_jsbsim_aircrafts = CopyAircraftDef(script_path, self.sandbox)
pointmass_element = tree.getroot().find('mass_balance/pointmass//form/..')
weight_element = pointmass_element.find('weight')
weight = float(weight_element.text)
form_element = pointmass_element.find('form')
radius_element = form_element.find('radius')
radius, length = (0.0, 0.0)
if radius_element is not None:
radius = float(radius_element.text)
length_element = form_element.find('length')
if length_element is not None:
length = float(length_element.text)
shape = form_element.attrib['shape']
pointmass_element.remove(form_element)
inertia = numpy.zeros((3,3))
if string.strip(shape) == 'tube':
inertia[0,0] = radius * radius
inertia[1,1] = (6.0 * inertia[0,0] + length * length) / 12.0
inertia[2,2] = inertia[1,1]
inertia = inertia * weight / 32.174049 # conversion between slug and lb
ixx_element = et.SubElement(pointmass_element, 'ixx')
ixx_element.text = str(inertia[0,0])
iyy_element = et.SubElement(pointmass_element, 'iyy')
iyy_element.text = str(inertia[1,1])
izz_element = et.SubElement(pointmass_element, 'izz')
izz_element.text = str(inertia[2,2])
tree.write(self.sandbox('aircraft', aircraft_name, aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.set_output_directive(self.sandbox.path_to_jsbsim_file('tests',
'output.xml'))
fdm.load_script(script_path)
fdm.run_ic()
ExecuteUntil(fdm, 50.0)
mod = Table()
mod.ReadCSV(self.sandbox("output.csv"))
diff = ref.compare(mod)
self.assertTrue(diff.empty(),
msg='\n'+repr(diff))
def SubProcessScriptExecution(self, sandbox, script_path, aircraft_path, time_limit):
self.script_path = script_path
self.sandbox = sandbox
fdm = CreateFDM(sandbox)
fdm.set_aircraft_path(aircraft_path)
self.ScriptExecution(fdm, time_limit)
class TestAeroFuncFrame(JSBSimTestCase):
def setUp(self):
JSBSimTestCase.setUp(self)
self.fdm = CreateFDM(self.sandbox)
self.script_path = self.sandbox.path_to_jsbsim_file(
'scripts', 'x153.xml')
self.tree, self.aircraft_name, b = CopyAircraftDef(
self.script_path, self.sandbox)
self.aero2wind = np.mat(np.identity(3))
self.aero2wind[0, 0] *= -1.0
self.aero2wind[2, 2] *= -1.0
self.auxilliary = self.fdm.get_auxiliary()
def tearDown(self):
del self.fdm
JSBSimTestCase.tearDown(self)
def getTs2b(self):
alpha = self.fdm['aero/alpha-rad']
ca = math.cos(alpha)
sa = math.sin(alpha)
Ts2b = np.mat([[ca, 0., -sa], [0., 1., 0.], [sa, 0., ca]])
return Ts2b
def checkForcesAndMoments(self, getForces, getMoment, aeroFunc):
self.fdm.load_script(self.script_path)
self.fdm.run_ic()
rp = np.mat([
self.fdm['metrics/aero-rp-x-in'],
-self.fdm['metrics/aero-rp-y-in'], self.fdm['metrics/aero-rp-z-in']
])
result = {}
while self.fdm.run():
for axis in aeroFunc.keys():
result[axis] = 0.0
for func in aeroFunc[axis]:
result[axis] += self.fdm[func]
Fa, Fb = getForces(result)
Tb2s = self.getTs2b().T
Fs = self.aero2wind * (Tb2s * Fb)
Mb_MRC = getMoment(result)
cg = np.mat([
self.fdm['inertia/cg-x-in'], -self.fdm['inertia/cg-y-in'],
self.fdm['inertia/cg-z-in']
])
arm_ft = (cg - rp) / 12.0 # Convert from inches to ft
Mb = Mb_MRC + np.cross(arm_ft, Fb.T)
Tb2w = self.auxilliary.get_Tb2w()
Mw = Tb2w * Mb.T
Ms = Tb2s * Mb.T
self.assertAlmostEqual(Fa[0, 0], self.fdm['forces/fwx-aero-lbs'])
self.assertAlmostEqual(Fa[1, 0], self.fdm['forces/fwy-aero-lbs'])
self.assertAlmostEqual(Fa[2, 0], self.fdm['forces/fwz-aero-lbs'])
self.assertAlmostEqual(Fb[0, 0], self.fdm['forces/fbx-aero-lbs'])
self.assertAlmostEqual(Fb[1, 0], self.fdm['forces/fby-aero-lbs'])
self.assertAlmostEqual(Fb[2, 0], self.fdm['forces/fbz-aero-lbs'])
self.assertAlmostEqual(Fs[0, 0], self.fdm['forces/fsx-aero-lbs'])
self.assertAlmostEqual(Fs[1, 0], self.fdm['forces/fsy-aero-lbs'])
self.assertAlmostEqual(Fs[2, 0], self.fdm['forces/fsz-aero-lbs'])
self.assertAlmostEqual(Mb[0, 0], self.fdm['moments/l-aero-lbsft'])
self.assertAlmostEqual(Mb[0, 1], self.fdm['moments/m-aero-lbsft'])
self.assertAlmostEqual(Mb[0, 2], self.fdm['moments/n-aero-lbsft'])
self.assertAlmostEqual(Ms[0, 0],
self.fdm['moments/roll-stab-aero-lbsft'])
self.assertAlmostEqual(Ms[1, 0],
self.fdm['moments/pitch-stab-aero-lbsft'])
self.assertAlmostEqual(Ms[2, 0],
self.fdm['moments/yaw-stab-aero-lbsft'])
self.assertAlmostEqual(Mw[0, 0],
self.fdm['moments/roll-wind-aero-lbsft'])
self.assertAlmostEqual(Mw[1, 0],
self.fdm['moments/pitch-wind-aero-lbsft'])
self.assertAlmostEqual(Mw[2, 0],
self.fdm['moments/yaw-wind-aero-lbsft'])
def checkAerodynamicsFrame(self, newAxisName, getForces, getMoment, frame):
aeroFunc = {}
for axis in self.tree.findall('aerodynamics/axis'):
axisName = newAxisName[axis.attrib['name']]
axis.attrib['name'] = axisName
if frame:
axis.attrib['frame'] = frame
aeroFunc[axisName] = []
for func in axis.findall('function'):
aeroFunc[axisName].append(func.attrib['name'])
if (frame == 'BODY' or len(frame) == 0) and (axisName == 'X' or
axisName == 'Z'):
# Convert the signs of X and Z forces so that the force
# along X is directed backward and the force along Z is
# directed upward.
product_tag = func.find('product')
value_tag = et.SubElement(product_tag, 'value')
value_tag.text = '-1.0'
self.tree.write(
self.sandbox('aircraft', self.aircraft_name,
self.aircraft_name + '.xml'))
self.fdm.set_aircraft_path('aircraft')
self.checkForcesAndMoments(getForces, getMoment, aeroFunc)
def checkBodyFrame(self, frame):
newAxisName = {
'DRAG': 'X',
'SIDE': 'Y',
'LIFT': 'Z',
'ROLL': 'ROLL',
'PITCH': 'PITCH',
'YAW': 'YAW'
}
def getForces(result):
Tb2w = self.auxilliary.get_Tb2w()
Fb = np.mat([result['X'], result['Y'], result['Z']]).T
Fw = Tb2w * Fb
Fa = self.aero2wind * Fw
return Fa, Fb
def getMoment(result):
return np.mat([result['ROLL'], result['PITCH'], result['YAW']])
self.checkAerodynamicsFrame(newAxisName, getForces, getMoment, '')
def testBodyFrame(self):
self.checkBodyFrame('')
def testBodyFrameAltSyntax(self):
self.checkBodyFrame('BODY')
def testAxialFrame(self):
newAxisName = {
'DRAG': 'AXIAL',
'SIDE': 'SIDE',
'LIFT': 'NORMAL',
'ROLL': 'ROLL',
'PITCH': 'PITCH',
'YAW': 'YAW'
}
def getForces(result):
Tb2w = self.auxilliary.get_Tb2w()
Fnative = np.mat(
[result['AXIAL'], result['SIDE'], result['NORMAL']]).T
Fb = self.aero2wind * Fnative
Fw = Tb2w * Fb
Fa = self.aero2wind * Fw
return Fa, Fb
def getMoment(result):
return np.mat([result['ROLL'], result['PITCH'], result['YAW']])
self.checkAerodynamicsFrame(newAxisName, getForces, getMoment, '')
def testWindFrame(self):
newAxisName = {
'DRAG': 'X',
'SIDE': 'Y',
'LIFT': 'Z',
'ROLL': 'ROLL',
'PITCH': 'PITCH',
'YAW': 'YAW'
}
def getForces(result):
Tw2b = self.auxilliary.get_Tw2b()
Fa = np.mat([result['X'], result['Y'], result['Z']]).T
Fw = self.aero2wind * Fa
Fb = Tw2b * Fw
return Fa, Fb
def getMoment(result):
Tw2b = self.auxilliary.get_Tw2b()
Mw = np.mat([result['ROLL'], result['PITCH'], result['YAW']]).T
Mb = Tw2b * Mw
return Mb.T
self.checkAerodynamicsFrame(newAxisName, getForces, getMoment, 'WIND')
def testAeroFrame(self):
aeroFunc = {}
for axis in self.tree.findall('aerodynamics/axis'):
axisName = axis.attrib['name']
aeroFunc[axisName] = []
for func in axis.findall('function'):
aeroFunc[axisName].append(func.attrib['name'])
def getForces(result):
Tw2b = self.auxilliary.get_Tw2b()
Fa = np.mat([result['DRAG'], result['SIDE'], result['LIFT']]).T
Fw = self.aero2wind * Fa
Fb = Tw2b * Fw
return Fa, Fb
def getMoment(result):
return np.mat([result['ROLL'], result['PITCH'], result['YAW']])
self.checkForcesAndMoments(getForces, getMoment, aeroFunc)
def testStabilityFrame(self):
newAxisName = {
'DRAG': 'X',
'SIDE': 'Y',
'LIFT': 'Z',
'ROLL': 'ROLL',
'PITCH': 'PITCH',
'YAW': 'YAW'
}
def getForces(result):
Tb2w = self.auxilliary.get_Tb2w()
Ts2b = self.getTs2b()
Fs = np.mat([result['X'], result['Y'], result['Z']]).T
Fb = Ts2b * (self.aero2wind * Fs)
Fw = Tb2w * Fb
Fa = self.aero2wind * Fw
return Fa, Fb
def getMoment(result):
Ts2b = self.getTs2b()
Ms = np.mat([result['ROLL'], result['PITCH'], result['YAW']]).T
Mb = Ts2b * Ms
return Mb.T
self.checkAerodynamicsFrame(newAxisName, getForces, getMoment,
'STABILITY')
tree, aircraft_name, path_to_jsbsim_aircrafts = CopyAircraftDef(script_path, sandbox)
# Now the copy of the aircraft definition file will be altered: the <rate_limit>
# element is split in two: one with sense 'decr', the other with sense 'incr'.
actuator_element = tree.getroot().find('flight_control/channel/actuator//rate_limit/..')
rate_element = actuator_element.find('rate_limit')
rate_element.attrib['sense'] = 'decr'
new_rate_element = et.SubElement(actuator_element, 'rate_limit')
new_rate_element.attrib['sense'] = 'incr'
new_rate_element.text = str(float(rate_element.text) * 0.5)
tree.write(sandbox('aircraft', aircraft_name, aircraft_name+'.xml'))
# Run the script with the modified aircraft
fdm = CreateFDM(sandbox)
fdm.set_aircraft_path('aircraft')
# A new process is created that launches the script. We wait for 10 times the
# reference execution time for the script completion. Beyond that time, if the
# process is not completed, it is terminated and the test is failed.
p = Process(target=ScriptExecution, args=(fdm, script_path))
p.start()
p.join(exec_time * 10.0) # Wait 10 times the reference time
if p.is_alive():
# The process has not yet completed: it means it probably hanged.
p.terminate()
sys.exit(-1)
# Second part of the test.
# #######################
#
def test_clipto(self):
tree, flight_control_element, actuator_element = self.prepare_actuator(
)
rate_limit = float(actuator_element.find('rate_limit').text)
self.saturated_prop = actuator_element.attrib['name'] + "/saturated"
self.fail_hardover = actuator_element.attrib[
'name'] + "/malfunction/fail_hardover"
clipto = actuator_element.find('clipto')
clipmax = clipto.find('max')
clipmin = clipto.find('min')
output_file = os.path.join('aircraft', self.aircraft_name,
self.aircraft_name + '.xml')
tree.write(output_file)
self.CheckClip(float(clipmin.text), float(clipmax.text), rate_limit)
property = et.SubElement(flight_control_element, 'property')
property.text = 'fcs/clip-min-value'
property.attrib['value'] = '-0.15'
property = et.SubElement(flight_control_element, 'property')
property.text = 'fcs/clip-max-value'
property.attrib['value'] = '0.05'
# Check a property for min and a value for max
clipmin.text = 'fcs/clip-min-value'
tree.write(output_file)
self.CheckClip(-0.15, float(clipmax.text), rate_limit)
# Check a property with minus sign for min and a value for max
clipmin.text = '-fcs/clip-max-value'
tree.write(output_file)
self.CheckClip(-0.05, float(clipmax.text), rate_limit)
# Check a property for max and a value for min
clipmin.text = '-0.1'
clipmax.text = 'fcs/clip-max-value'
tree.write(output_file)
self.CheckClip(-0.1, 0.05, rate_limit)
# Check a property with minus sign for max and a value for min
clipmax.text = '-fcs/clip-min-value'
tree.write(output_file)
self.CheckClip(-0.1, 0.15, rate_limit)
# Check a property for max and min
clipmin.text = '-fcs/clip-max-value'
clipmax.text = 'fcs/clip-max-value'
tree.write(output_file)
self.CheckClip(-0.05, 0.05, rate_limit)
# Check the cyclic clip
clipmin.text = str(-math.pi)
clipmax.text = str(math.pi)
clipto.attrib['type'] = 'cyclic'
tree.write(output_file)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(self.script_path)
fdm.run_ic()
fdm[self.input_prop] = 2.0 * math.pi
dt = math.pi / rate_limit
while fdm['simulation/sim-time-sec'] <= dt:
self.assertTrue(fdm[self.output_prop] <= math.pi)
self.assertTrue(fdm[self.output_prop] >= 0.0)
self.assertAlmostEqual(fdm[self.output_prop],
fdm['simulation/sim-time-sec'] * rate_limit)
fdm.run()
while fdm['simulation/sim-time-sec'] <= 2.0 * dt:
self.assertTrue(fdm[self.output_prop] >= -math.pi)
self.assertTrue(fdm[self.output_prop] <= 0.0)
self.assertAlmostEqual(
fdm[self.output_prop],
fdm['simulation/sim-time-sec'] * rate_limit - 2.0 * math.pi)
fdm.run()
# Check that the output value does not go beyond 0.0
self.assertAlmostEqual(fdm[self.output_prop], 0.0)
fdm.run()
self.assertAlmostEqual(fdm[self.output_prop], 0.0)
t = fdm['simulation/sim-time-sec']
fdm[self.input_prop] = -0.5 * math.pi
while fdm['simulation/sim-time-sec'] <= t + dt:
self.assertTrue(fdm[self.output_prop] >= -math.pi)
self.assertTrue(fdm[self.output_prop] <= 0.0)
self.assertAlmostEqual(fdm[self.output_prop],
(t - fdm['simulation/sim-time-sec']) *
rate_limit)
fdm.run()
while fdm['simulation/sim-time-sec'] <= t + 1.5 * dt:
self.assertTrue(fdm[self.output_prop] <= math.pi)
self.assertTrue(fdm[self.output_prop] >= -0.5 * math.pi)
self.assertAlmostEqual(
fdm[self.output_prop],
(t - fdm['simulation/sim-time-sec']) * rate_limit +
2.0 * math.pi)
fdm.run()
del fdm
# Check the cyclic clip handles correctly negative numbers (GH issue
# #211)
# Case 1 : The interval is positive
clipmin.text = '0.0'
clipmax.text = str(math.pi)
tree.write(output_file)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(self.script_path)
fdm.run_ic()
fdm[self.input_prop] = -2.0 * math.pi
t0 = math.pi / rate_limit
t = fdm['simulation/sim-time-sec']
while t <= t0:
self.assertTrue(fdm[self.output_prop] <= math.pi)
self.assertTrue(fdm[self.output_prop] >= 0.0)
if t == 0:
self.assertAlmostEqual(fdm[self.output_prop], 0.0)
else:
self.assertAlmostEqual(fdm[self.output_prop],
math.pi - t * rate_limit)
fdm.run()
t = fdm['simulation/sim-time-sec']
while t <= 2.0 * t0:
self.assertTrue(fdm[self.output_prop] <= math.pi)
self.assertTrue(fdm[self.output_prop] >= 0.0)
self.assertAlmostEqual(fdm[self.output_prop],
math.pi - (t - t0) * rate_limit)
fdm.run()
t = fdm['simulation/sim-time-sec']
del fdm
# Case 2 : The interval is negative
clipmin.text = str(-math.pi)
clipmax.text = '0.0'
tree.write(output_file)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(self.script_path)
fdm.run_ic()
fdm[self.input_prop] = math.pi
dt = math.pi / rate_limit
t = fdm['simulation/sim-time-sec']
while t <= dt:
self.assertAlmostEqual(fdm[self.output_prop],
t * rate_limit - math.pi)
self.assertTrue(fdm[self.output_prop] >= -math.pi - 1E-8)
self.assertTrue(fdm[self.output_prop] <= 0.0)
fdm.run()
t = fdm['simulation/sim-time-sec']
t0 = t
fdm[self.input_prop] = -2.0 * math.pi
fdm.run()
t = fdm['simulation/sim-time-sec']
while t <= t0 + dt:
self.assertTrue(fdm[self.output_prop] >= -math.pi)
self.assertTrue(fdm[self.output_prop] <= 0.0)
self.assertAlmostEqual(fdm[self.output_prop],
(t0 - t) * rate_limit)
fdm.run()
t = fdm['simulation/sim-time-sec']
t0 += dt
while t <= t0 + dt:
self.assertTrue(fdm[self.output_prop] >= -math.pi)
self.assertTrue(fdm[self.output_prop] <= 0.0)
self.assertAlmostEqual(fdm[self.output_prop],
(t0 - t) * rate_limit)
fdm.run()
t = fdm['simulation/sim-time-sec']
def CheckClip(self, clipmin, clipmax, rate_limit):
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(self.script_path)
fdm.run_ic()
fdm[self.input_prop] = 2.0 * clipmax
dt = clipmax / rate_limit
while fdm['simulation/sim-time-sec'] <= dt:
self.assertFalse(fdm[self.saturated_prop])
fdm.run()
self.assertTrue(fdm[self.saturated_prop])
self.assertAlmostEqual(fdm[self.output_prop], clipmax)
# Check that the actuator output can't go beyond clipmax
t = fdm['simulation/sim-time-sec']
while fdm['simulation/sim-time-sec'] <= t + dt:
fdm.run()
self.assertTrue(fdm[self.saturated_prop])
self.assertAlmostEqual(fdm[self.output_prop], clipmax)
fdm[self.input_prop] = 2.0 * clipmin
dt = (2.0 * clipmax - clipmin) / rate_limit
t = fdm['simulation/sim-time-sec']
while fdm['simulation/sim-time-sec'] <= t + dt:
if fdm[self.output_prop] < clipmax:
self.assertFalse(fdm[self.saturated_prop])
else:
self.assertTrue(fdm[self.saturated_prop])
fdm.run()
self.assertTrue(fdm[self.saturated_prop])
self.assertAlmostEqual(fdm[self.output_prop], clipmin)
# Check that the actuator output can't go below clipmin
t = fdm['simulation/sim-time-sec']
while fdm['simulation/sim-time-sec'] <= t + dt:
fdm.run()
self.assertTrue(fdm[self.saturated_prop])
self.assertAlmostEqual(fdm[self.output_prop], clipmin)
fdm[self.input_prop] = 1E-6
dt = (fdm[self.input_prop] - 2.0 * clipmin) / rate_limit
t = fdm['simulation/sim-time-sec']
while fdm['simulation/sim-time-sec'] <= t + 2.0 * dt:
if fdm[self.output_prop] > clipmin:
self.assertFalse(fdm[self.saturated_prop])
else:
self.assertTrue(fdm[self.saturated_prop])
fdm.run()
self.assertAlmostEqual(fdm[self.output_prop], fdm[self.input_prop])
fdm[self.fail_hardover] = 1.0
dt = (clipmax - fdm[self.input_prop]) / rate_limit
t = fdm['simulation/sim-time-sec']
while fdm['simulation/sim-time-sec'] <= t + dt:
if fdm[self.output_prop] < clipmax:
self.assertFalse(fdm[self.saturated_prop])
else:
self.assertTrue(fdm[self.saturated_prop])
fdm.run()
self.assertTrue(fdm[self.saturated_prop])
self.assertAlmostEqual(fdm[self.output_prop], clipmax)
fdm[self.input_prop] = -1E-6
dt = (clipmax - clipmin) / rate_limit
t = fdm['simulation/sim-time-sec']
while fdm['simulation/sim-time-sec'] <= t + dt:
if fdm[self.output_prop] > clipmin and fdm[
self.output_prop] < clipmax:
self.assertFalse(fdm[self.saturated_prop])
else:
self.assertTrue(fdm[self.saturated_prop])
fdm.run()
self.assertTrue(fdm[self.saturated_prop])
self.assertAlmostEqual(fdm[self.output_prop], clipmin)
del fdm
def test_point_mass_inertia(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'J2460.xml')
fdm = CreateFDM(self.sandbox)
fdm.set_output_directive(
self.sandbox.path_to_jsbsim_file('tests', 'output.xml'))
fdm.load_script(script_path)
fdm.run_ic()
ExecuteUntil(fdm, 50.0)
ref = pd.read_csv("output.csv", index_col=0)
tree, aircraft_name, path_to_jsbsim_aircrafts = CopyAircraftDef(
script_path, self.sandbox)
pointmass_element = tree.getroot().find(
'mass_balance/pointmass//form/..')
weight_element = pointmass_element.find('weight')
weight = float(weight_element.text)
form_element = pointmass_element.find('form')
radius_element = form_element.find('radius')
radius, length = (0.0, 0.0)
if radius_element is not None:
radius = float(radius_element.text)
length_element = form_element.find('length')
if length_element is not None:
length = float(length_element.text)
shape = form_element.attrib['shape']
pointmass_element.remove(form_element)
inertia = np.zeros((3, 3))
if string.strip(shape) == 'tube':
inertia[0, 0] = radius * radius
inertia[1, 1] = (6.0 * inertia[0, 0] + length * length) / 12.0
inertia[2, 2] = inertia[1, 1]
inertia = inertia * weight / 32.174049 # converting slugs to lbs
ixx_element = et.SubElement(pointmass_element, 'ixx')
ixx_element.text = str(inertia[0, 0])
iyy_element = et.SubElement(pointmass_element, 'iyy')
iyy_element.text = str(inertia[1, 1])
izz_element = et.SubElement(pointmass_element, 'izz')
izz_element.text = str(inertia[2, 2])
tree.write(
self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml'))
# Because JSBSim internals use static pointers, we cannot rely on
# Python garbage collector to decide when the FDM is destroyed
# otherwise we can get dangling pointers.
del fdm
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.set_output_directive(
self.sandbox.path_to_jsbsim_file('tests', 'output.xml'))
fdm.load_script(script_path)
fdm.run_ic()
ExecuteUntil(fdm, 50.0)
mod = pd.read_csv("output.csv", index_col=0)
# Check the data are matching i.e. the time steps are the same between
# the two data sets and that the output data are also the same.
self.assertTrue(isDataMatching(ref, mod))
# Find all the data that are differing by more than 1E-8 between the
# two data sets.
diff = FindDifferences(ref, mod, 1E-8)
self.longMessage = True
self.assertEqual(len(diff), 0, msg='\n' + diff.to_string())
def test_input_socket(self):
# The aircraft c172x does not contain an <input> tag so we need
# to add one.
tree, aircraft_name, b = CopyAircraftDef(self.script_path,
self.sandbox)
self.root = tree.getroot()
input_tag = et.SubElement(self.root, 'input')
input_tag.attrib['port'] = '1137'
tree.write(
self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(self.script_path)
fdm.run_ic()
fdm.hold()
tn = TelnetInterface(fdm, 5., 1137)
self.sanityCheck(tn)
# Check the aircraft name and its version
msg = string.split(tn.sendCommand("info"), '\n')
self.assertEqual(string.strip(string.split(msg[2], ':')[1]),
string.strip(self.root.attrib['name']))
self.assertEqual(string.strip(string.split(msg[1], ':')[1]),
string.strip(self.root.attrib['version']))
# Check that the simulation time is 0.0
self.assertEqual(float(string.strip(string.split(msg[3], ':')[1])),
0.0)
self.assertEqual(tn.getSimTime(), 0.0)
self.assertEqual(tn.getPropertyValue("simulation/sim-time-sec"), 0.0)
# Check that 'iterate' iterates the correct number of times
tn.sendCommand("iterate 19")
self.assertEqual(tn.getSimTime(), 19. * tn.getDeltaT())
self.assertAlmostEqual(tn.getPropertyValue("simulation/sim-time-sec"),
tn.getSimTime(),
delta=1E-5)
# Wait a little bit and make sure that the simulation time has not
# changed meanwhile thus confirming that the simulation is on hold.
tn.wait(0.1)
self.assertEqual(tn.getSimTime(), 19. * tn.getDeltaT())
self.assertAlmostEqual(tn.getPropertyValue("simulation/sim-time-sec"),
tn.getSimTime(),
delta=1E-5)
# Modify the tank[0] contents via the "send" command
half_contents = 0.5 * tn.getPropertyValue(
"propulsion/tank/contents-lbs")
tn.sendCommand("set propulsion/tank/contents-lbs " +
str(half_contents))
self.assertEqual(tn.getPropertyValue("propulsion/tank/contents-lbs"),
half_contents)
# Check the resume/hold commands
tn.setRealTime(True)
t = tn.getSimTime()
tn.sendCommand("resume")
tn.wait(0.5)
self.assertNotEqual(tn.getSimTime(), t)
tn.wait(0.5)
tn.sendCommand("hold")
tn.setRealTime(False)
t = tn.getSimTime()
self.assertAlmostEqual(tn.getPropertyValue("simulation/sim-time-sec"),
t,
delta=1E-5)
# Wait a little bit and make sure that the simulation time has not
# changed meanwhile thus confirming that the simulation is on hold.
tn.wait(0.1)
self.assertEqual(tn.getSimTime(), t)
self.assertAlmostEqual(tn.getPropertyValue("simulation/sim-time-sec"),
t,
delta=1E-5)
class TestInputSocket(unittest.TestCase):
def setUp(self):
self.sandbox = SandBox()
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'c1722.xml')
# The aircraft c172x does not contain an <input> tag so we need
# to add one.
tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox)
self.root = tree.getroot()
input_tag = et.SubElement(self.root, 'input')
input_tag.attrib['port']='1137'
tree.write(self.sandbox('aircraft', aircraft_name, aircraft_name+'.xml'))
self.fdm = CreateFDM(self.sandbox)
self.fdm.set_aircraft_path('aircraft')
self.fdm.load_script(script_path)
self.fdm.run_ic()
self.fdm.hold()
# Execute JSBSim in a separate thread
self.cond = threading.Condition()
self.thread = JSBSimThread(self.fdm, self.cond, 5., time.time())
self.thread.start()
# Wait for the thread to be started before connecting a telnet session
self.cond.acquire()
self.cond.wait()
self.tn = telnetlib.Telnet("localhost", 1137)
self.cond.release()
def tearDown(self):
self.tn.close()
self.thread.quit = True
self.thread.join()
self.sandbox.erase()
def sendCommand(self, command):
self.cond.acquire()
self.tn.write(command+"\n")
# Wait for a time step to be executed before reading the output from telnet
self.cond.wait()
msg = self.tn.read_very_eager()
self.cond.release()
self.thread.join(0.1)
return msg
def getSimTime(self):
self.cond.acquire()
self.cond.wait()
t = self.fdm.get_sim_time()
self.cond.release()
return t
def getDeltaT(self):
self.cond.acquire()
self.cond.wait()
dt = self.fdm.get_delta_t()
self.cond.release()
return dt
def getPropertyValue(self, property):
msg = string.split(self.sendCommand("get "+property),'\n')
return float(string.split(msg[0], '=')[1])
def test_input_socket(self):
# Check that the connection has been established
self.cond.acquire()
self.cond.wait()
out = self.tn.read_very_eager()
self.cond.release()
self.assertTrue(string.split(out, '\n')[0] == 'Connected to JSBSim server',
msg="Not connected to the JSBSim server.\nGot message '%s' instead" % (out,))
# Check that "help" returns the minimum set of commands that will be
# tested
self.assertEqual(sorted(map(lambda x : string.strip(string.split(x, '{')[0]),
string.split(self.sendCommand("help"), '\n')[2:-2])),
['get', 'help', 'hold', 'info', 'iterate', 'quit', 'resume', 'set'])
# Check the aircraft name and its version
msg = string.split(self.sendCommand("info"), '\n')
self.assertEqual(string.strip(string.split(msg[2], ':')[1]),
string.strip(self.root.attrib['name']))
self.assertEqual(string.strip(string.split(msg[1], ':')[1]),
string.strip(self.root.attrib['version']))
# Check that the simulation time is 0.0
self.assertEqual(float(string.strip(string.split(msg[3], ':')[1])), 0.0)
self.assertEqual(self.getSimTime(), 0.0)
self.assertEqual(self.getPropertyValue("simulation/sim-time-sec"), 0.0)
# Check that 'iterate' iterates the correct number of times
self.sendCommand("iterate 19")
self.assertEqual(self.getSimTime(), 19. * self.getDeltaT())
self.assertAlmostEqual(self.getPropertyValue("simulation/sim-time-sec"),
self.getSimTime(), delta=1E-5)
# Wait a little bit and make sure that the simulation time has not
# changed meanwhile thus confirming that the simulation is on hold.
self.thread.join(0.1)
self.assertEqual(self.getSimTime(), 19. * self.getDeltaT())
self.assertAlmostEqual(self.getPropertyValue("simulation/sim-time-sec"),
self.getSimTime(), delta=1E-5)
# Modify the tank[0] contents via the "send" command
half_contents = 0.5 * self.getPropertyValue("propulsion/tank/contents-lbs")
self.sendCommand("set propulsion/tank/contents-lbs "+ str(half_contents))
self.cond.acquire()
self.cond.wait()
self.assertEqual(self.fdm.get_property_value("propulsion/tank/contents-lbs"),
half_contents)
self.cond.release()
# Check the resume/hold commands
self.thread.realTime = True
t = self.getSimTime()
self.sendCommand("resume")
self.thread.join(0.5)
self.assertNotEqual(self.getSimTime(), t)
self.thread.join(0.5)
self.sendCommand("hold")
self.thread.realTime = False
t = self.getSimTime()
self.assertAlmostEqual(self.getPropertyValue("simulation/sim-time-sec"),
t, delta=1E-5)
# Wait a little bit and make sure that the simulation time has not
# changed meanwhile thus confirming that the simulation is on hold.
self.thread.join(0.1)
self.assertEqual(self.getSimTime(), t)
self.assertAlmostEqual(self.getPropertyValue("simulation/sim-time-sec"),
t, delta=1E-5)
def test_input_socket(self):
# The aircraft c172x does not contain an <input> tag so we need
# to add one.
tree, aircraft_name, b = CopyAircraftDef(self.script_path, self.sandbox)
self.root = tree.getroot()
input_tag = et.SubElement(self.root, 'input')
input_tag.attrib['port'] = '1137'
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(self.script_path)
fdm.run_ic()
fdm.hold()
tn = TelnetInterface(fdm, 5., 1137)
self.sanityCheck(tn)
# Check the aircraft name and its version
msg = string.split(tn.sendCommand("info"), '\n')
self.assertEqual(string.strip(string.split(msg[2], ':')[1]),
string.strip(self.root.attrib['name']))
self.assertEqual(string.strip(string.split(msg[1], ':')[1]),
string.strip(self.root.attrib['version']))
# Check that the simulation time is 0.0
self.assertEqual(float(string.strip(string.split(msg[3], ':')[1])), 0.0)
self.assertEqual(tn.getSimTime(), 0.0)
self.assertEqual(tn.getPropertyValue("simulation/sim-time-sec"), 0.0)
# Check that 'iterate' iterates the correct number of times
tn.sendCommand("iterate 19")
self.assertEqual(tn.getSimTime(), 19. * tn.getDeltaT())
self.assertAlmostEqual(tn.getPropertyValue("simulation/sim-time-sec"),
tn.getSimTime(), delta=1E-5)
# Wait a little bit and make sure that the simulation time has not
# changed meanwhile thus confirming that the simulation is on hold.
tn.wait(0.1)
self.assertEqual(tn.getSimTime(), 19. * tn.getDeltaT())
self.assertAlmostEqual(tn.getPropertyValue("simulation/sim-time-sec"),
tn.getSimTime(), delta=1E-5)
# Modify the tank[0] contents via the "send" command
half_contents = 0.5 * tn.getPropertyValue("propulsion/tank/contents-lbs")
tn.sendCommand("set propulsion/tank/contents-lbs " + str(half_contents))
self.assertEqual(tn.getPropertyValue("propulsion/tank/contents-lbs"),
half_contents)
# Check the resume/hold commands
tn.setRealTime(True)
t = tn.getSimTime()
tn.sendCommand("resume")
tn.wait(0.5)
self.assertNotEqual(tn.getSimTime(), t)
tn.wait(0.5)
tn.sendCommand("hold")
tn.setRealTime(False)
t = tn.getSimTime()
self.assertAlmostEqual(tn.getPropertyValue("simulation/sim-time-sec"),
t, delta=1E-5)
# Wait a little bit and make sure that the simulation time has not
# changed meanwhile thus confirming that the simulation is on hold.
tn.wait(0.1)
self.assertEqual(tn.getSimTime(), t)
self.assertAlmostEqual(tn.getPropertyValue("simulation/sim-time-sec"),
t, delta=1E-5)
def test_point_mass_inertia(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'J2460.xml')
fdm = CreateFDM(self.sandbox)
fdm.set_output_directive(self.sandbox.path_to_jsbsim_file('tests',
'output.xml'))
fdm.load_script(script_path)
fdm.run_ic()
ExecuteUntil(fdm, 50.0)
ref = pd.read_csv("output.csv", index_col=0)
tree, aircraft_name, path_to_jsbsim_aircrafts = CopyAircraftDef(script_path, self.sandbox)
pointmass_element = tree.getroot().find('mass_balance/pointmass//form/..')
weight_element = pointmass_element.find('weight')
weight = float(weight_element.text)
form_element = pointmass_element.find('form')
radius_element = form_element.find('radius')
radius, length = (0.0, 0.0)
if radius_element is not None:
radius = float(radius_element.text)
length_element = form_element.find('length')
if length_element is not None:
length = float(length_element.text)
shape = form_element.attrib['shape']
pointmass_element.remove(form_element)
inertia = np.zeros((3, 3))
if string.strip(shape) == 'tube':
inertia[0, 0] = radius * radius
inertia[1, 1] = (6.0 * inertia[0, 0] + length * length) / 12.0
inertia[2, 2] = inertia[1, 1]
inertia = inertia * weight / 32.174049 # converting slugs to lbs
ixx_element = et.SubElement(pointmass_element, 'ixx')
ixx_element.text = str(inertia[0, 0])
iyy_element = et.SubElement(pointmass_element, 'iyy')
iyy_element.text = str(inertia[1, 1])
izz_element = et.SubElement(pointmass_element, 'izz')
izz_element.text = str(inertia[2, 2])
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
# Because JSBSim internals use static pointers, we cannot rely on
# Python garbage collector to decide when the FDM is destroyed
# otherwise we can get dangling pointers.
del fdm
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.set_output_directive(self.sandbox.path_to_jsbsim_file('tests',
'output.xml'))
fdm.load_script(script_path)
fdm.run_ic()
ExecuteUntil(fdm, 50.0)
mod = pd.read_csv("output.csv", index_col=0)
# Check the data are matching i.e. the time steps are the same between
# the two data sets and that the output data are also the same.
self.assertTrue(isDataMatching(ref, mod))
# Find all the data that are differing by more than 1E-8 between the
# two data sets.
diff = FindDifferences(ref, mod, 1E-8)
self.longMessage = True
self.assertEqual(len(diff), 0, msg='\n'+diff.to_string())