def test_fuel_tanks_content(self): script_path = self.sandbox.path_to_jsbsim_file('scripts', 'J2460.xml') fdm = CreateFDM(self.sandbox) fdm.load_script(script_path) fdm.run_ic() tree = et.parse(script_path) use_tag = tree.getroot().find('use') aircraft_name = use_tag.attrib['aircraft'] aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft', aircraft_name) aircraft_tree = et.parse(os.path.join(aircraft_path, aircraft_name+'.xml')) total_fuel_quantity = 0.0 total_oxidizer_quantity = 0.0 for tank in aircraft_tree.findall('propulsion/tank'): contents = float(tank.find('contents').text) if tank.attrib['type'] == "FUEL": total_fuel_quantity += contents elif tank.attrib['type'] == 'OXIDIZER': total_oxidizer_quantity += contents self.assertAlmostEqual(fdm['propulsion/total-fuel-lbs'], total_fuel_quantity) self.assertAlmostEqual(fdm['propulsion/total-oxidizer-lbs'], total_oxidizer_quantity)
def test_trim_on_ground(self): fdm = CreateFDM(self.sandbox) fdm.load_model('c172x') fdm['ic/theta-deg'] = 10.0 fdm.run_ic() fdm['ic/theta-deg'] = 0.0 fdm['simulation/do_simple_trim'] = 2
def testDebugLvl(self): fdm = CreateFDM(self.sandbox) fdm.load_script( self.sandbox.path_to_jsbsim_file('scripts', 'ball_orbit.xml')) fdm.run_ic() ExecuteUntil(fdm, 1000.) ref = pd.read_csv('BallOut.csv', index_col=0) del fdm os.environ["JSBSIM_DEBUG"] = str(0) fdm = CreateFDM(self.sandbox) fdm.load_script( self.sandbox.path_to_jsbsim_file('scripts', 'ball_orbit.xml')) fdm.run_ic() ExecuteUntil(fdm, 1000.) current = pd.read_csv('BallOut.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, current)) # Find all the data that are differing by more than 1E-8 between the # two data sets. diff = FindDifferences(ref, current, 1E-8) self.longMessage = True self.assertEqual(len(diff), 0, msg='\n' + diff.to_string())
def test_hold_down_with_gnd_reactions(self): fdm = CreateFDM(self.sandbox) fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts', 'c1721.xml')) fdm.run_ic() ExecuteUntil(fdm, 0.25) fdm['forces/hold-down'] = 1.0 h0 = fdm['position/h-sl-ft'] pitch = fdm['attitude/pitch-rad'] roll = fdm['attitude/roll-rad'] heading = fdm['attitude/heading-true-rad'] while fdm['simulation/sim-time-sec'] < 2.0: fdm.run() self.assertAlmostEqual(fdm['accelerations/pdot-rad_sec2'], 0.0) self.assertAlmostEqual(fdm['accelerations/qdot-rad_sec2'], 0.0) self.assertAlmostEqual(fdm['accelerations/rdot-rad_sec2'], 0.0) self.assertAlmostEqual(fdm['accelerations/udot-ft_sec2'], 0.0) self.assertAlmostEqual(fdm['accelerations/vdot-ft_sec2'], 0.0) self.assertAlmostEqual(fdm['accelerations/wdot-ft_sec2'], 0.0) self.assertAlmostEqual(fdm['position/h-sl-ft'], h0, delta=1E-6) self.assertAlmostEqual(fdm['attitude/pitch-rad'], pitch) self.assertAlmostEqual(fdm['attitude/roll-rad'], roll) self.assertAlmostEqual(fdm['attitude/heading-true-rad'], heading)
def test_output(self): tree = et.parse(self.script_path) output_tag = et.SubElement(tree.getroot(), 'output') output_tag.attrib['name'] = 'test.csv' output_tag.attrib['type'] = 'CSV' output_tag.attrib['rate'] = '10' property_tag = et.SubElement(output_tag, 'property') property_tag.text = 'position/vrp-radius-ft' tree.write('c1722_0.xml') fdm = CreateFDM(self.sandbox) fdm.load_script('c1722_0.xml') fdm.run_ic() ExecuteUntil(fdm, 10.) self.assertTrue(self.sandbox.exists(output_tag.attrib['name']), msg="The file 'output.csv' has not been created") orig = pd.read_csv('JSBout172B.csv', index_col=0) test = pd.read_csv('test.csv', index_col=0) pname = '/fdm/jsbsim/' + property_tag.text ref = orig[pname] mod = test[pname] # Check the data are matching i.e. the time steps are the same between # the two data sets. self.assertTrue(isDataMatching(ref, mod)) # Find all the data that are differing by more than 1E-8 between the # two data sets. delta = pd.concat([np.abs(ref - mod), ref, mod], axis=1) delta.columns = ['delta', 'ref value', 'value'] diff = delta[delta['delta'] > 1E-8] self.longMessage = True self.assertEqual(len(diff), 0, msg='\n'+diff.to_string())
def testDebugLvl(self): fdm = CreateFDM(self.sandbox) fdm.load_script( self.sandbox.path_to_jsbsim_file('scripts', 'ball_orbit.xml')) fdm.run_ic() ExecuteUntil(fdm, 1000.) ref, current = Table(), Table() ref.ReadCSV(self.sandbox('BallOut.csv')) del fdm os.environ["JSBSIM_DEBUG"] = str(0) fdm = CreateFDM(self.sandbox) fdm.load_script( self.sandbox.path_to_jsbsim_file('scripts', 'ball_orbit.xml')) fdm.run_ic() ExecuteUntil(fdm, 1000.) current.ReadCSV(self.sandbox('BallOut.csv')) diff = ref.compare(current) self.longMessage = True self.assertTrue(diff.empty(), msg='\n' + repr(diff))
def test_FG_reset(self): # This test reproduces how FlightGear resets. The important thing is # that the property manager is managed by FlightGear. So it is not # deleted when the JSBSim instance is killed. pm = jsbsim.FGPropertyManager(new_instance=True) self.assertFalse(pm.hasNode('fdm/jsbsim/ic/lat-geod-deg')) fdm = CreateFDM(self.sandbox, pm) fdm.load_model('ball') self.assertAlmostEqual(fdm['ic/lat-geod-deg'], 0.0) fdm['ic/lat-geod-deg'] = 45.0 fdm.run_ic() del fdm # Check that the property ic/lat-geod-deg has survived the JSBSim # instance. self.assertTrue(pm.hasNode('fdm/jsbsim/ic/lat-geod-deg')) # Re-use the property manager just as FlightGear does. fdm = CreateFDM(self.sandbox, pm) self.assertAlmostEqual(fdm['ic/lat-geod-deg'], 45.0) del fdm
def SubProcessScriptExecution(sandbox, script_path): fdm = CreateFDM(sandbox) fdm.load_script(script_path) fdm.run_ic() while fdm.run(): pass
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 testAircrafts(self): aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft') for d in os.listdir(aircraft_path): fullpath = os.path.join(aircraft_path, d) # Is d a directory ? if not os.path.isdir(fullpath): continue f = os.path.join(aircraft_path, d, d + '.xml') # Is f an aircraft definition file ? if not CheckXMLFile(f, 'fdm_config'): continue if d in ('blank'): continue fdm = CreateFDM(self.sandbox) self.assertTrue(fdm.load_model(d), msg='Failed to load aircraft %s' % (d, )) for f in os.listdir(fullpath): f = os.path.join(aircraft_path, d, f) if CheckXMLFile(f, 'initialize'): self.assertTrue( fdm.load_ic(f, False), msg='Failed to load IC %s for aircraft %s' % (f, d)) try: fdm.run_ic() except RuntimeError: self.fail('Failed to run IC %s for aircraft %s' % (f, d)) del fdm
def 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_fuel_tanks_content(self): script_path = self.sandbox.path_to_jsbsim_file('scripts', 'J2460.xml') fdm = CreateFDM(self.sandbox) fdm.load_script(script_path) fdm.run_ic() tree = et.parse(script_path) use_tag = tree.getroot().find('use') aircraft_name = use_tag.attrib['aircraft'] aircraft_path = self.sandbox.path_to_jsbsim_file( 'aircraft', aircraft_name) aircraft_tree = et.parse( os.path.join(aircraft_path, aircraft_name + '.xml')) total_fuel_quantity = 0.0 total_oxidizer_quantity = 0.0 for tank in aircraft_tree.findall('propulsion/tank'): contents = float(tank.find('contents').text) if tank.attrib['type'] == "FUEL": total_fuel_quantity += contents elif tank.attrib['type'] == 'OXIDIZER': total_oxidizer_quantity += contents self.assertAlmostEqual(fdm['propulsion/total-fuel-lbs'], total_fuel_quantity) self.assertAlmostEqual(fdm['propulsion/total-oxidizer-lbs'], total_oxidizer_quantity)
def testDebugLvl(self): fdm = CreateFDM(self.sandbox) fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts', 'ball_orbit.xml')) fdm.run_ic() ExecuteUntil(fdm, 1000.) ref = pd.read_csv('BallOut.csv', index_col=0) del fdm os.environ["JSBSIM_DEBUG"] = str(0) fdm = CreateFDM(self.sandbox) fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts', 'ball_orbit.xml')) fdm.run_ic() ExecuteUntil(fdm, 1000.) current = pd.read_csv('BallOut.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, current)) # Find all the data that are differing by more than 1E-8 between the # two data sets. diff = FindDifferences(ref, current, 1E-8) self.longMessage = True self.assertEqual(len(diff), 0, msg='\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_humidity_parameters(self): # Table: Dew point (deg C), Vapor pressure (Pa), RH humidity_table = [ (-40.0, 19.021201, 0.815452, 1.2040321), (-30.0, 51.168875, 2.193645, 1.2038877), (-20.0, 125.965126, 5.4002118, 1.2035517), (-10.0, 287.031031, 12.3052182, 1.2028282), ( 0.0, 611.2, 26.2025655, 1.2013721), ( 10.0, 1226.030206, 52.5607604, 1.1986102), ( 20.0, 2332.5960221, 100., 1.1936395) ] fdm = CreateFDM(self.sandbox) fdm.load_model('ball') fdm['atmosphere/delta-T'] = 5.0*self.K_to_R fdm.run_ic() Psat = fdm['atmosphere/saturated-vapor-pressure-psf']/self.Pa_to_psf self.assertAlmostEqual(Psat, humidity_table[-1][1]) self.assertAlmostEqual(fdm['atmosphere/vapor-pressure-psf'], 0.0) self.assertAlmostEqual(fdm['atmosphere/RH'], 0.0) self.assertAlmostEqual(fdm['atmosphere/dew-point-R'], 54.054) for Tdp, Pv, RH, rho in humidity_table: fdm['atmosphere/dew-point-R'] = (Tdp+273.15)*self.K_to_R fdm.run_ic() self.assertAlmostEqual(fdm['atmosphere/vapor-pressure-psf'], Pv*self.Pa_to_psf) self.assertAlmostEqual(fdm['atmosphere/RH'], RH) self.assertAlmostEqual(fdm['atmosphere/rho-slugs_ft3']/(self.kg_to_slug*math.pow(0.3048,3)), rho) del fdm
def test_direct_steer(self): fdm = CreateFDM(self.sandbox) fdm.load_model('c172r') aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft') fdm.load_ic(os.path.join(aircraft_path, 'c172r', 'reset00'), False) fdm.run_ic() self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0) self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0) # Should be part of a unit test in C++ ? fpectl.turnon_sigfpe() grndreact = fdm.get_ground_reactions() for i in xrange(grndreact.get_num_gear_units()): gear = grndreact.get_gear_unit(i) self.assertEqual(gear.get_steer_norm(), 0.0) fpectl.turnoff_sigfpe() fdm['fcs/steer-pos-deg'] = 5.0 self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0) fdm.run() self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0) fdm['fcs/steer-cmd-norm'] = 1.0 self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0) fdm.run() self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0) self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 10.0)
def LoadScript(self, tree, script_path, prop_output_to_CSV=[]): # Make a local copy of files referenced by the script. for element in list(tree.getroot()): if 'file' in element.keys(): name = append_xml(element.attrib['file']) name_with_path = os.path.join(os.path.dirname(script_path), name) if os.path.exists(name_with_path): shutil.copy(name_with_path, name) # Generate a CSV file to check that it is correctly initialized # with the initial values output_tag = et.SubElement(tree.getroot(), 'output') output_tag.attrib['name'] = 'check_csv_values.csv' output_tag.attrib['type'] = 'CSV' output_tag.attrib['rate'] = '10' position_tag = et.SubElement(output_tag, 'position') position_tag.text = 'ON' velocities_tag = et.SubElement(output_tag, 'velocities') velocities_tag.text = 'ON' for props in prop_output_to_CSV: property_tag = et.SubElement(output_tag, 'property') property_tag.text = props f = os.path.split(script_path)[-1] # Script name tree.write(f) # Initialize the script fdm = CreateFDM(self.sandbox) self.assertTrue(fdm.load_script(f), msg="Failed to load script %s" % (f, )) fdm.run_ic() return (f, fdm)
def test_steer_with_fcs(self): fdm = CreateFDM(self.sandbox) fdm.load_model('L410') aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft') fdm.load_ic(os.path.join(aircraft_path, 'L410', 'reset00'), False) fdm.run_ic() self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0) self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0) fdm['fcs/steer-cmd-norm'] = 1.0 self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0) fdm.run() self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0) self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0) fdm['/controls/switches/full-steering-sw'] = 1.0 fdm.run() self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0) self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0) fdm['/controls/switches/full-steering-sw'] = 2.0 fdm.run() self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0) self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 45.0) fdm['fcs/steer-cmd-norm'] = -0.5 fdm.run() self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], -0.5) self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], -22.5)
def LoadScript(self, tree, script_path, prop_output_to_CSV=[]): # Make a local copy of files referenced by the script. for element in list(tree.getroot()): if 'file' in element.keys(): name = append_xml(element.attrib['file']) name_with_path = os.path.join(os.path.dirname(script_path), name) if os.path.exists(name_with_path): shutil.copy(name_with_path, name) # Generate a CSV file to check that it is correctly initialized # with the initial values output_tag = et.SubElement(tree.getroot(), 'output') output_tag.attrib['name'] = 'check_csv_values.csv' output_tag.attrib['type'] = 'CSV' output_tag.attrib['rate'] = '10' position_tag = et.SubElement(output_tag, 'position') position_tag.text = 'ON' velocities_tag = et.SubElement(output_tag, 'velocities') velocities_tag.text = 'ON' for props in prop_output_to_CSV: property_tag = et.SubElement(output_tag, 'property') property_tag.text = props f = os.path.split(script_path)[-1] # Script name tree.write(f) # Initialize the script fdm = CreateFDM(self.sandbox) self.assertTrue(fdm.load_script(f), msg="Failed to load script %s" % (f,)) fdm.run_ic() return (f, fdm)
def test_waypoint(self): fdm = CreateFDM(self.sandbox) fdm.load_model('c310') aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft') fdm.load_ic(os.path.join(aircraft_path, 'c310', 'reset00'), False) slr = 20925646.32546 # Sea Level Radius TestCases = ( (0.25 * math.pi, 0.5 * math.pi, 0.0, 0.0), (0.0, 0.5 * math.pi, math.pi, slr * 0.25 * math.pi), # North pole (0.5 * math.pi, 0.5 * math.pi, 0.0, slr * 0.25 * math.pi), # South pole (-0.5 * math.pi, 0.5 * math.pi, math.pi, slr * 0.75 * math.pi), (0.0, 0.0, 1.5 * math.pi, slr * 0.5 * math.pi), (0.0, math.pi, 0.5 * math.pi, slr * 0.5 * math.pi)) fdm['ic/lat-gc-rad'] = TestCases[0][0] fdm['ic/long-gc-rad'] = TestCases[0][1] for case in TestCases: fdm['guidance/target_wp_latitude_rad'] = case[0] fdm['guidance/target_wp_longitude_rad'] = case[1] fdm.run_ic() self.assertAlmostEqual(fdm['guidance/wp-heading-rad'], case[2]) self.assertAlmostEqual(fdm['guidance/wp-distance'], case[3])
def test_output(self): tree = et.parse(self.script_path) output_tag = et.SubElement(tree.getroot(), 'output') output_tag.attrib['name'] = 'test.csv' output_tag.attrib['type'] = 'CSV' output_tag.attrib['rate'] = '10' property_tag = et.SubElement(output_tag, 'property') property_tag.text = 'position/vrp-radius-ft' tree.write('c1722_0.xml') fdm = CreateFDM(self.sandbox) fdm.load_script('c1722_0.xml') fdm.run_ic() ExecuteUntil(fdm, 10.) self.assertTrue(self.sandbox.exists(output_tag.attrib['name']), msg="The file 'output.csv' has not been created") orig = pd.read_csv('JSBout172B.csv', index_col=0) test = pd.read_csv('test.csv', index_col=0) pname = '/fdm/jsbsim/' + property_tag.text ref = orig[pname] mod = test[pname] # Check the data are matching i.e. the time steps are the same between # the two data sets. self.assertTrue(isDataMatching(ref, mod)) # Find all the data that are differing by more than 1E-8 between the # two data sets. delta = pd.concat([np.abs(ref - mod), ref, mod], axis=1) delta.columns = ['delta', 'ref value', 'value'] diff = delta[delta['delta'] > 1E-8] self.longMessage = True self.assertEqual(len(diff), 0, msg='\n' + diff.to_string())
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 testAircrafts(self): aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft') for d in os.listdir(aircraft_path): fullpath = os.path.join(aircraft_path, d) # Is d a directory ? if not os.path.isdir(fullpath): continue f = os.path.join(aircraft_path, d, d+'.xml') # Is f an aircraft definition file ? if not CheckXMLFile(f, 'fdm_config'): continue if d in ('blank'): continue fdm = CreateFDM(self.sandbox) self.assertTrue(fdm.load_model(d), msg='Failed to load aircraft %s' % (d,)) for f in os.listdir(fullpath): f = os.path.join(aircraft_path, d, f) if CheckXMLFile(f, 'initialize'): self.assertTrue(fdm.load_ic(f, False), msg='Failed to load IC %s for aircraft %s' % (f, d)) try: fdm.run_ic() except RuntimeError: self.fail('Failed to run IC %s for aircraft %s' % (f, d)) del fdm
def test_wind_frame(self): script_path = self.sandbox.path_to_jsbsim_file('scripts', 'ball_chute.xml') fdm = CreateFDM(self.sandbox) fdm.load_script(script_path) fdm.run_ic() self.assertAlmostEqual( fdm['external_reactions/parachute/location-x-in'], 12.0) self.assertAlmostEqual( fdm['external_reactions/parachute/location-y-in'], 0.0) self.assertAlmostEqual( fdm['external_reactions/parachute/location-z-in'], 0.0) self.assertAlmostEqual(fdm['external_reactions/parachute/x'], -1.0) self.assertAlmostEqual(fdm['external_reactions/parachute/y'], 0.0) self.assertAlmostEqual(fdm['external_reactions/parachute/z'], 0.0) 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 = 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]) self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1]) self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
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 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 testKinematicTiming(self): fdm = CreateFDM(self.sandbox) fdm.load_model('c172r') fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', 'c172r', 'reset00'), False) fdm.run_ic() self.assertEqual(fdm['fcs/flap-cmd-norm'], 0.0) self.assertEqual(fdm['fcs/flap-pos-deg'], 0.0) # Test the flap down sequence. The flap command is set to a value # higher than 1.0 to check that JSBSim clamps it to 1.0 fdm['fcs/flap-cmd-norm'] = 1.5 t = fdm['simulation/sim-time-sec'] while t < 2.0: self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 5.*t) fdm.run() t = fdm['simulation/sim-time-sec'] while t < 4.0: self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 10.*(t-1.)) fdm.run() t = fdm['simulation/sim-time-sec'] while t < 5.0: self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 30.) fdm.run() t = fdm['simulation/sim-time-sec'] # Test the flap up sequence with an interruption at 7.5 deg fdm['fcs/flap-cmd-norm'] = 0.25 while t < 7.0: self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 30.-10.*(t-5.)) fdm.run() t = fdm['simulation/sim-time-sec'] while t < 7.5: self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 10.-5.*(t-7.)) fdm.run() t = fdm['simulation/sim-time-sec'] while t < 8.0: self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 7.5) fdm.run() t = fdm['simulation/sim-time-sec'] # Complete the flap up sequence. The flap command is set to a value # lower than 0.0 to check that JSBSim clamps it to 0.0 fdm['fcs/flap-cmd-norm'] = -1. while t < 9.5: self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 10.-5.*(t-7.5)) fdm.run() t = fdm['simulation/sim-time-sec'] while t < 10.0: self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 0.0) fdm.run() t = fdm['simulation/sim-time-sec']
def test_trim_doesnt_ignite_rockets(self): # Run a longitudinal trim with a rocket equipped with solid propellant # boosters (aka SRBs). The trim algorithm will try to reach a vertical # equilibrium by tweaking the throttle but since the rocket is nose up, # the trim cannot converge. As a result the algorithm will set full # throttle which will result in the SRBs ignition if the integration is # not suspended. This bug has been reported in FlightGear and this test # is checking that there is no regression. fdm = CreateFDM(self.sandbox) fdm.load_model('J246') fdm.load_ic( self.sandbox.path_to_jsbsim_file('aircraft', 'J246', 'LC39'), False) fdm.run_ic() # Check that the SRBs are not ignited self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0) self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0) try: fdm['simulation/do_simple_trim'] = 1 except RuntimeError as e: # The trim cannot succeed. Just make sure that the raised exception # is due to the trim failure otherwise rethrow. if e.args[0] != 'Trim Failed': raise # Check that the trim did not ignite the SRBs self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0) self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0)
def test_hold_down_with_gnd_reactions(self): fdm = CreateFDM(self.sandbox) fdm.load_script( self.sandbox.path_to_jsbsim_file('scripts', 'c1721.xml')) fdm.run_ic() ExecuteUntil(fdm, 0.25) fdm['forces/hold-down'] = 1.0 h0 = fdm['position/h-sl-ft'] pitch = fdm['attitude/pitch-rad'] roll = fdm['attitude/roll-rad'] heading = fdm['attitude/heading-true-rad'] while fdm['simulation/sim-time-sec'] < 2.0: fdm.run() self.assertAlmostEqual(fdm['accelerations/pdot-rad_sec2'], 0.0) self.assertAlmostEqual(fdm['accelerations/qdot-rad_sec2'], 0.0) self.assertAlmostEqual(fdm['accelerations/rdot-rad_sec2'], 0.0) self.assertAlmostEqual(fdm['accelerations/udot-ft_sec2'], 0.0) self.assertAlmostEqual(fdm['accelerations/vdot-ft_sec2'], 0.0) self.assertAlmostEqual(fdm['accelerations/wdot-ft_sec2'], 0.0) self.assertAlmostEqual(fdm['position/h-sl-ft'], h0, delta=1E-6) self.assertAlmostEqual(fdm['attitude/pitch-rad'], pitch) self.assertAlmostEqual(fdm['attitude/roll-rad'], roll) self.assertAlmostEqual(fdm['attitude/heading-true-rad'], heading)
def testFunctionWithIndexedProps(self): tree = et.parse(self.sandbox.path_to_jsbsim_file('engine', 'eng_PegasusXc.xml')) # Define the function starter-max-power-W as a 'post' function root = tree.getroot() startPowFunc_tag = root.find("function/[@name='propulsion/engine[#]/starter-max-power-W']") startPowFunc_tag.attrib['type']='post' tree.write('eng_PegasusXc.xml') # Copy the propeller file. shutil.copy(self.sandbox.path_to_jsbsim_file('engine', 'prop_deHavilland5000.xml'), '.') fdm = CreateFDM(self.sandbox) fdm.set_engine_path('.') fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts', 'Short_S23_1.xml')) fdm.run_ic() pm = fdm.get_property_manager() self.assertTrue(pm.hasNode('propulsion/engine[0]/starter-max-power-W')) self.assertTrue(pm.hasNode('propulsion/engine[1]/starter-max-power-W')) self.assertTrue(pm.hasNode('propulsion/engine[2]/starter-max-power-W')) self.assertTrue(pm.hasNode('propulsion/engine[3]/starter-max-power-W')) while fdm.run(): rpm = [fdm['propulsion/engine[0]/engine-rpm'], fdm['propulsion/engine[1]/engine-rpm'], fdm['propulsion/engine[2]/engine-rpm'], fdm['propulsion/engine[3]/engine-rpm']] for i in range(4): maxPower = max(0.0, 1.0-rpm[i]/400)*498.941*0.10471976*rpm[i] self.assertAlmostEqual(fdm['propulsion/engine[%d]/starter-max-power-W' % (i,)], maxPower)
def test_gust_reset(self): fdm = CreateFDM(self.sandbox) fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts', 'c172_cruise_8K.xml')) fdm['simulation/randomseed'] = 0.0 fdm.set_output_directive(self.sandbox.path_to_jsbsim_file('tests', 'output.xml')) fdm.run_ic() ExecuteUntil(fdm, 15.5) ref = pd.read_csv('output.csv', index_col=0) fdm['simulation/randomseed'] = 0.0 fdm.reset_to_initial_conditions(1) ExecuteUntil(fdm, 15.5) current = pd.read_csv('output_0.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, current)) # Find all the data that are differing by more than 1E-8 between the # two data sets. diff = FindDifferences(ref, current, 1E-8) self.longMessage = True self.assertEqual(len(diff), 0, msg='\n'+diff.to_string())
def test_wind_frame(self): script_path = self.sandbox.path_to_jsbsim_file('scripts', 'ball_chute.xml') fdm = CreateFDM(self.sandbox) fdm.load_script(script_path) fdm.run_ic() self.assertAlmostEqual(fdm['external_reactions/parachute/location-x-in'], 12.0) self.assertAlmostEqual(fdm['external_reactions/parachute/location-y-in'], 0.0) self.assertAlmostEqual(fdm['external_reactions/parachute/location-z-in'], 0.0) self.assertAlmostEqual(fdm['external_reactions/parachute/x'], -1.0) self.assertAlmostEqual(fdm['external_reactions/parachute/y'], 0.0) self.assertAlmostEqual(fdm['external_reactions/parachute/z'], 0.0) 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 = 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]) self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1]) self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
def test_trim_doesnt_ignite_rockets(self): # Run a longitudinal trim with a rocket equipped with solid propellant # boosters (aka SRBs). The trim algorithm will try to reach a vertical # equilibrium by tweaking the throttle but since the rocket is nose up, # the trim cannot converge. As a result the algorithm will set full # throttle which will result in the SRBs ignition if the integration is # not suspended. This bug has been reported in FlightGear and this test # is checking that there is no regression. fdm = CreateFDM(self.sandbox) fdm.load_model('J246') fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', 'J246', 'LC39'), False) fdm.run_ic() # Check that the SRBs are not ignited self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0) self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0) try: fdm['simulation/do_simple_trim'] = 1 except RuntimeError as e: # The trim cannot succeed. Just make sure that the raised exception # is due to the trim failure otherwise rethrow. if e.args[0] != 'Trim Failed': raise # Check that the trim did not ignite the SRBs self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0) self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0)
def test_waypoint(self): fdm = CreateFDM(self.sandbox) fdm.load_model('c310') aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft') fdm.load_ic(os.path.join(aircraft_path, 'c310', 'reset00'), False) slr = 20925646.32546 # Sea Level Radius TestCases = ((0.25*math.pi, 0.5*math.pi, 0.0, 0.0), (0.0, 0.5*math.pi, math.pi, slr*0.25*math.pi), # North pole (0.5*math.pi, 0.5*math.pi, 0.0, slr*0.25*math.pi), # South pole (-0.5*math.pi, 0.5*math.pi, math.pi, slr*0.75*math.pi), (0.0, 0.0, 1.5*math.pi, slr*0.5*math.pi), (0.0, math.pi, 0.5*math.pi, slr*0.5*math.pi)) fdm['ic/lat-gc-rad'] = TestCases[0][0] fdm['ic/long-gc-rad'] = TestCases[0][1] for case in TestCases: fdm['guidance/target_wp_latitude_rad'] = case[0] fdm['guidance/target_wp_longitude_rad'] = case[1] fdm.run_ic() self.assertAlmostEqual(fdm['guidance/wp-heading-rad'], case[2]) self.assertAlmostEqual(fdm['guidance/wp-distance'], case[3])
def test_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_no_output(self): fdm = CreateFDM(self.sandbox) fdm.load_script(self.script_path) fdm.run_ic() ExecuteUntil(fdm, 10.) self.assertFalse(self.sandbox.exists('output.csv'), msg="Results have unexpectedly been written to 'output.csv'")
def test_no_input(self): fdm = CreateFDM(self.sandbox) fdm.load_script(self.script_path) fdm.run_ic() fdm.hold() with self.assertRaises(socket.error): TelnetInterface(fdm, 5., 1137)
def testScripts(self): for s in self.script_list(): fdm = CreateFDM(self.sandbox) self.assertTrue(fdm.load_script(s), msg="Failed to load script %s" % (s,)) fdm.run_ic() del fdm
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_trim_on_ground(self): # Check that the trim is made with up to date initial conditions fdm = CreateFDM(self.sandbox) fdm.load_model('c172x') fdm['ic/theta-deg'] = 10.0 fdm.run_ic() fdm['ic/theta-deg'] = 0.0 # If the trim fails, it will raise an exception fdm['simulation/do_simple_trim'] = 2
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 testChannelRate(self): os.environ['JSBSIM_DEBUG'] = str(0) fdm = CreateFDM(self.sandbox) fdm.load_script( self.sandbox.path_to_jsbsim_file('scripts', 'systems-rate-test-0.xml')) fdm.run_ic() while fdm['simulation/sim-time-sec'] < 30: fdm.run() self.assertEqual(fdm['simulation/frame'], fdm['tests/rate-1']) self.assertEqual(int(fdm['simulation/frame'] / 4), fdm['tests/rate-4']) self.assertEqual(fdm['simulation/sim-time-sec'], fdm['tests/rate-1-dt-sum']) self.assertAlmostEqual( fdm['simulation/dt'] * fdm['tests/rate-4'] * 4, fdm['tests/rate-4-dt-sum']) self.assertEqual(fdm['simulation/dt'], fdm['tests/rate-1-dt']) self.assertEqual(fdm['simulation/dt'] * 4, fdm['tests/rate-4-dt']) try: fdm['simulation/do_simple_trim'] = 1 except RuntimeError as e: # The trim cannot succeed. Just make sure that the raised exception # is due to the trim failure otherwise rethrow. if e.args[0] != 'Trim Failed': raise while fdm['simulation/sim-time-sec'] < 40: self.assertEqual(fdm['simulation/frame'], fdm['tests/rate-1']) self.assertEqual(int(fdm['simulation/frame'] / 4), fdm['tests/rate-4']) self.assertEqual(fdm['simulation/sim-time-sec'], fdm['tests/rate-1-dt-sum']) self.assertAlmostEqual( fdm['simulation/dt'] * fdm['tests/rate-4'] * 4, fdm['tests/rate-4-dt-sum']) fdm.run() fdm.reset_to_initial_conditions(1) tf = fdm['tests/rate-1-dt-sum'] xtraFrames = fdm['simulation/frame'] % 4 while fdm['simulation/sim-time-sec'] < 30: fdm.run() self.assertEqual(fdm['simulation/frame'], fdm['tests/rate-1']) self.assertEqual(int((fdm['simulation/frame'] - xtraFrames) / 4), fdm['tests/rate-4']) self.assertAlmostEqual(fdm['simulation/sim-time-sec'], fdm['tests/rate-1-dt-sum'] - tf) self.assertAlmostEqual( fdm['simulation/dt'] * fdm['tests/rate-4'] * 4, fdm['tests/rate-4-dt-sum'])
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 testEnginePowerVC(self): # Check that the same results are obtained whether the engine power # velocity correction is given in a <table> or <function> fdm = CreateFDM(self.sandbox) fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts', 'L4102.xml')) fdm.run_ic() while fdm.run(): pass del fdm ref = pd.read_csv('L410.csv', index_col=0) tree = et.parse(self.sandbox.path_to_jsbsim_file('engine', 'engtm601.xml')) # Modify the engine definition to use a <function> rather than a # <table> component. root = tree.getroot() engPowVC_tag = root.find("table/[@name='EnginePowerVC']") root.remove(engPowVC_tag) del engPowVC_tag.attrib['name'] func_engPowVC = et.SubElement(root, 'function') func_engPowVC.attrib['name'] = 'EnginePowerVC' func_engPowVC.append(engPowVC_tag) tree.write('engtm601.xml') # Copy the propeller file. shutil.copy(self.sandbox.path_to_jsbsim_file('engine', 'vrtule2.xml'), '.') self.sandbox.delete_csv_files() fdm = CreateFDM(self.sandbox) fdm.set_engine_path('.') fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts', 'L4102.xml')) fdm.run_ic() while fdm.run(): pass current = pd.read_csv('L410.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, current)) # Find all the data that are differing by more than 1E-5 between the # two data sets. diff = FindDifferences(ref, current, 0.0) self.longMessage = True self.assertEqual(len(diff), 0, msg='\n'+diff.to_string())
def initFDM(self): fdm = CreateFDM(self.sandbox) script_path = self.sandbox.path_to_jsbsim_file('scripts', 'cannonball.xml') fdm.load_script(script_path) fdm['simulation/integrator/rate/rotational'] = 5 fdm['simulation/integrator/rate/translational'] = 5 fdm['simulation/integrator/position/rotational'] = 5 fdm['simulation/integrator/position/translational'] = 5 fdm.run_ic() fdm.set_dt(0.05) return fdm
def testEnginePowerVC(self): fdm = CreateFDM(self.sandbox) fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts', 'L4102.xml')) fdm.run_ic() pm = fdm.get_property_manager() self.assertTrue(pm.hasNode('propulsion/engine[0]/EnginePowerVC')) self.assertTrue(pm.hasNode('propulsion/engine[1]/EnginePowerVC')) while fdm.run(): self.assertAlmostEqual(fdm['propulsion/engine[0]/EnginePowerVC'], fdm['propulsion/engine[1]/EnginePowerVC'])
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 test_output_from_file(self): tree = et.parse(self.sandbox.elude(self.script_path)) output_tag = et.SubElement(tree.getroot(), 'output') output_tag.attrib['file'] = self.sandbox.elude(self.sandbox.path_to_jsbsim_file('tests', 'output.xml')) tree.write(self.sandbox('c1722_0.xml')) fdm = CreateFDM(self.sandbox) fdm.load_script('c1722_0.xml') fdm.run_ic() ExecuteUntil(fdm, 10.) self.assertTrue(self.sandbox.exists('output.csv'), msg="The file 'output.csv' has not been created")
def test_script_input(self): tree = et.parse(self.sandbox.elude(self.script_path)) input_tag = et.SubElement(tree.getroot(), 'input') input_tag.attrib['port'] = '1138' tree.write(self.sandbox('c1722_1.xml')) fdm = CreateFDM(self.sandbox) fdm.load_script('c1722_1.xml') fdm.run_ic() fdm.hold() tn = TelnetInterface(fdm, 5., 1138) self.sanityCheck(tn)