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 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 setUp(self):
JSBSimTestCase.setUp(self)
self.script_path = self.sandbox.path_to_jsbsim_file('scripts',
'c1724.xml')
# Since we will alter the aircraft definition file, we need make a copy
# of it and of all the files it is refering to.
self.tree, self.aircraft_name, self.path_to_jsbsim_aircrafts = CopyAircraftDef(self.script_path, self.sandbox)
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 test_steer_type(self):
self.script_path = self.sandbox.path_to_jsbsim_file(
'scripts', 'c1721.xml')
self.tree, self.aircraft_name, b = CopyAircraftDef(
self.script_path, self.sandbox)
root = self.tree.getroot()
self.max_steer_tag = root.find('ground_reactions/contact/max_steer')
# Check the fixed type
self.max_steer_tag.text = '0.0'
fdm = self.steerType(False, False, False)
del fdm
# Check the castered type
self.max_steer_tag.text = '360.0'
self.isCastered()
# Check the steered type
self.max_steer_tag.text = '10.0'
fdm = self.steerType(True, False, False)
fdm['fcs/steer-cmd-norm'] = 0.5
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0)
del fdm
bogey_tag = root.find('ground_reactions/contact//max_steer/..')
castered_tag = et.SubElement(bogey_tag, 'castered')
castered_tag.text = '1.0'
# Check that the bogey is castered no matter what is the value
# of <max_steer>
self.max_steer_tag.text = '10.0'
self.isCastered()
self.max_steer_tag.text = '0.0'
self.isCastered()
self.max_steer_tag.text = '360.0'
self.isCastered()
# Check the fixed type
castered_tag.text = '0.0'
self.max_steer_tag.text = '0.0'
fdm = self.steerType(False, False, False)
del fdm
# Check the steered type
self.max_steer_tag.text = '10.0'
self.isSteered()
# Check the steered type with 360.0
self.max_steer_tag.text = '360.0'
self.isSteered()
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 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 setUp(self):
self.sandbox = SandBox()
self.script_path = self.sandbox.path_to_jsbsim_file("scripts", "c1724.xml")
# Since we will alter the aircraft definition file, we need make a copy
# of it and of all the files it is refering to.
self.tree, self.aircraft_name, self.path_to_jsbsim_aircrafts = CopyAircraftDef(self.script_path, self.sandbox)
def testIndependenceOfInitialLocation(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts/ball.xml')
tree, aircraft_name, _ = CopyAircraftDef(script_path, self.sandbox)
tree.write(
self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml'))
# Alter the initial conditions XML file to force the initial latitude
# to 90 degrees.
_, IC_tree, IC_file = self.getElementTrees(script_path)
IC_root = IC_tree.getroot()
lat_tag = IC_root.find('latitude')
psi_tag = IC_root.find('psi')
alt_tag = IC_root.find('altitude')
psi_tag.text = '90.0' # Heading East
lat_tag.text = '89.9' # Above the North Pole
h0 = float(alt_tag.text)
IC_tree.write(os.path.join('aircraft', aircraft_name, IC_file))
fdm = self.create_fdm()
fdm.set_aircraft_path('aircraft')
self.load_script('ball.xml')
fdm.run_ic()
p = fdm['ic/p-rad_sec']
q = fdm['ic/q-rad_sec']
r = fdm['ic/r-rad_sec']
self.delete_fdm()
# Since the equatorial radius is 70159 ft larger than the polar radius
# we need to decrease the altitude by the same amount in order to
# initialize the vehicle at the same radius.
alt_tag.text = str(h0 - 70159)
psi_tag.text = '0.0' # Heading North
lat_tag.text = '0.0' # Above equator
# Longitude at which the polar orbit tested above would cross the equator
lon_tag = IC_root.find('longitude')
lon_tag.text = '90.0'
IC_tree.write(os.path.join('aircraft', aircraft_name, IC_file))
fdm = self.create_fdm()
fdm.set_aircraft_path('aircraft')
self.load_script('ball.xml')
fdm.run_ic()
self.assertAlmostEqual(fdm['ic/p-rad_sec'], p)
self.assertAlmostEqual(fdm['ic/q-rad_sec'], q)
self.assertAlmostEqual(fdm['ic/r-rad_sec'], r)
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 setUp(self):
JSBSimTestCase.setUp(self)
self.script_path = self.sandbox.path_to_jsbsim_file('scripts',
'c1724.xml')
# Since we will alter the aircraft definition file, we need make a copy
# of it and of all the files it is refering to.
self.tree, self.aircraft_name, self.path_to_jsbsim_aircrafts = CopyAircraftDef(self.script_path, self.sandbox)
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 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 testKinematicNoScale(self):
# Test the <nocale/> feature
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'c1721.xml')
tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox)
kinematic_tag = tree.getroot().find('flight_control/channel/kinematic')
et.SubElement(kinematic_tag, 'noscale')
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model(aircraft_name)
fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', aircraft_name,
'reset00'), False)
fdm.run_ic()
fdm['fcs/flap-cmd-norm'] = 12.
ExecuteUntil(fdm, 2.2)
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 12.)
def test_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_steer_type(self):
self.script_path = self.sandbox.path_to_jsbsim_file('scripts',
'c1721.xml')
self.tree, self.aircraft_name, b = CopyAircraftDef(self.script_path,
self.sandbox)
root = self.tree.getroot()
self.max_steer_tag = root.find('ground_reactions/contact/max_steer')
# Check the fixed type
self.max_steer_tag.text = '0.0'
fdm = self.steerType(False, False, False)
del fdm
# Check the castered type
self.max_steer_tag.text = '360.0'
self.isCastered()
# Check the steered type
self.max_steer_tag.text = '10.0'
fdm = self.steerType(True, False, False)
fdm['fcs/steer-cmd-norm'] = 0.5
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0)
del fdm
bogey_tag = root.find('ground_reactions/contact//max_steer/..')
castered_tag = et.SubElement(bogey_tag, 'castered')
castered_tag.text = '1.0'
# Check that the bogey is castered no matter what is the value
# of <max_steer>
self.max_steer_tag.text = '10.0'
self.isCastered()
self.max_steer_tag.text = '0.0'
self.isCastered()
self.max_steer_tag.text = '360.0'
self.isCastered()
# Check the fixed type
castered_tag.text = '0.0'
self.max_steer_tag.text = '0.0'
fdm = self.steerType(False, False, False)
del fdm
# Check the steered type
self.max_steer_tag.text = '10.0'
self.isSteered()
# Check the steered type with 360.0
self.max_steer_tag.text = '360.0'
self.isSteered()
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 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_trim_with_actuator_delay(self):
# This is a regression test that checks that actuators delays are
# disabled when the trim takes place (GitHub issue #293).
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'c1722.xml')
aircraft_tree, aircraft_name, _ = CopyAircraftDef(
script_path, self.sandbox)
root = aircraft_tree.getroot()
elevator_actuator = root.find(
"flight_control/channel/actuator[@name='fcs/elevator-actuator']")
delay = et.SubElement(elevator_actuator, 'delay')
delay.text = '0.1'
aircraft_tree.write(
self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml'))
fdm = self.create_fdm()
fdm.set_aircraft_path(self.sandbox('aircraft'))
fdm.load_script(script_path)
fdm.run_ic()
while fdm.run():
if fdm['simulation/trim-completed'] == 1:
break
def testNorthPoleInitialization(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts/ball.xml')
tree, aircraft_name, _ = CopyAircraftDef(script_path, self.sandbox)
tree.write(
self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml'))
# Alter the initial conditions XML file to force the initial latitude
# to 90 degrees.
_, IC_tree, IC_file = self.getElementTrees(script_path)
IC_root = IC_tree.getroot()
lat_tag = IC_root.find('latitude')
lat_tag.text = '90.0'
IC_tree.write(os.path.join('aircraft', aircraft_name, IC_file))
fdm = self.create_fdm()
fdm.set_aircraft_path('aircraft')
fpectl.turnon_sigfpe()
self.load_script('ball.xml')
fdm.run_ic()
self.assertAlmostEqual(fdm['ic/lat-gc-deg'], 90.)
while fdm['simulation/sim-time-sec'] < 1.:
fdm.run()
fpectl.turnoff_sigfpe()
def test_trim_westward(self):
# This is a regression test after the bug reported in GitHub issue #163
# which reports a trim failure when the heading is set to 270 degrees or
# -90 degrees i.e. westward.
script_path = self.sandbox.path_to_jsbsim_file('scripts',
'737_cruise.xml')
aircraft_tree, aircraft_name, b = CopyAircraftDef(
script_path, self.sandbox)
aircraft_tree.write(
self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml'))
IC_file = self.sandbox('aircraft', aircraft_name, 'cruise_init.xml')
tree = et.parse(IC_file)
heading_el = tree.find('psi')
heading_el.text = '270.0'
tree.write(IC_file)
fdm = self.create_fdm()
fdm.set_aircraft_path(self.sandbox('aircraft'))
fdm.load_script(script_path)
fdm.run_ic()
while fdm['simulation/sim-time-sec'] < 6.0:
fdm.run()
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 BuildReference(self, script_name):
# Run the script
self.script = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.sandbox.delete_csv_files()
fdm = CreateFDM(self.sandbox)
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)
self.ref = pd.read_csv("output.csv", index_col=0)
# Since the script will work with modified versions of the aircraft XML
# definition file, we need to make a copy of the directory that
# contains all the input data of that aircraft
tree, self.aircraft_name, self.path_to_jsbsim_aircrafts = CopyAircraftDef(
self.script, self.sandbox)
self.aircraft_path = os.path.join('aircraft', self.aircraft_name)
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))
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')
sys.exit(-1)
sandbox = SandBox()
# 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.
script_path = sandbox.path_to_jsbsim_file('scripts', 'c1724.xml')
fdm = CreateFDM(sandbox)
start_time = time.time()
ScriptExecution(fdm, script_path)
exec_time = time.time() - start_time
# Since we will alter the aircraft definition file, we need make a copy of it
# and all the files it is refering to.
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')
class CheckFGBug1503(JSBSimTestCase):
def setUp(self):
JSBSimTestCase.setUp(self)
self.script_path = self.sandbox.path_to_jsbsim_file('scripts',
'c1724.xml')
# Since we will alter the aircraft definition file, we need make a copy
# of it and of all the files it is refering to.
self.tree, self.aircraft_name, self.path_to_jsbsim_aircrafts = CopyAircraftDef(self.script_path, self.sandbox)
def ScriptExecution(self, fdm, time_limit=1E+9):
fdm.load_script(self.script_path)
fdm.run_ic()
while fdm.run() and fdm.get_sim_time() < time_limit:
aileron_pos = fdm['fcs/left-aileron-pos-rad']
self.assertEqual(aileron_pos, 0.0,
msg="Failed running the script %s at time step %f\nProperty fcs/left-aileron-pos-rad is non-zero (%f)" % (self.script_path, fdm.get_sim_time(), aileron_pos))
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 CheckRateValue(self, fdm, output_prop, rate_value):
aileron_course = []
t0 = fdm.get_sim_time()
while fdm.run() and fdm.get_sim_time() <= t0 + 1.0:
aileron_course += [(fdm.get_sim_time(), fdm[output_prop])]
# Thanks to a linear regression on the values, we can check that the
# value is following a slope equal to the rate limit. The correlation
# coefficient r_value is also checked to verify that the output is
# evolving linearly.
slope, intercept, r_value, p_value, std_err = stats.linregress(aileron_course)
self.assertTrue(abs(slope - rate_value) < 1E-9 and abs(1.0 - abs(r_value)) < 1E-9,
msg="The actuator rate is not linear")
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_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
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=SubProcessScriptExecution, args=(self.sandbox, self.script_path, aircraft_path,))
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 hung")
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_is_linear(self):
# Third part of the test.
########################
#
# The test is run again but this time we are checking that rate_limit
# drives the actuator output value as expected. The idea is to store
# the output value of the actuator output vs the time and check with a
# linear regression that
# 1. The actuator output value is evolving linearly
# 2. The slope of the actuator output is equal to the rate_limit value
# The test is run with the rate_limit given by a value, a property,
# different values of the ascending and descending rates and a number
# of combinations thereof.
# The aircraft file definition is modified such that the actuator
# element input is driven by a unique property. The name of this unique
# property is built in the variable 'input_prop' below. When setting
# that property to 1.0 (resp. -1.0) the ascending (resp. descending)
# rate is triggered.
tree = et.parse(os.path.join(self.path_to_jsbsim_aircrafts,
self.aircraft_name+'.xml'))
flight_control_element = tree.getroot().find('flight_control')
actuator_element = flight_control_element.find('channel/actuator//rate_limit/..')
# Remove the hysteresis. We want to make sure we are measuring the
# rate_limit and just that.
hysteresis_element = actuator_element.find('hysteresis')
actuator_element.remove(hysteresis_element)
input_element = actuator_element.find('input')
input_prop = actuator_element.attrib['name'].split('-')
input_prop[-1] = 'input'
input_prop = '-'.join(input_prop)
input_element.text = input_prop
output_element = actuator_element.find('output')
output_prop = output_element.text.strip()
# Add the new properties to <flight_control> so that we can make
# reference to them without JSBSim complaining
property = et.SubElement(flight_control_element, 'property')
property.text = input_prop
property.attrib['value'] = '0.0'
property = et.SubElement(flight_control_element, 'property')
property.text = 'fcs/rate-limit-value'
property.attrib['value'] = '0.15'
property = et.SubElement(flight_control_element, 'property')
property.text = 'fcs/rate-limit-value2'
property.attrib['value'] = '0.05'
# First check with rate_limit set to 0.1
rate_element = actuator_element.find('rate_limit')
rate_element.text = '0.1'
output_file = os.path.join('aircraft', self.aircraft_name,
self.aircraft_name+'.xml')
tree.write(output_file)
self.CheckRateLimit(input_prop, output_prop, 0.1, -0.1)
# Check when rate_limit is set by the property 'fcs/rate-limit-value'
tree = et.parse(output_file)
flight_control_element = tree.getroot().find('flight_control')
actuator_element = flight_control_element.find('channel/actuator//rate_limit/..')
rate_element = actuator_element.find('rate_limit')
rate_element.text = 'fcs/rate-limit-value'
tree.write(output_file)
self.CheckRateLimit(input_prop, output_prop, 0.15, -0.15)
# Checking when the ascending and descending rates are different.
# First with the 2 rates set by hard coded values (0.1 and 0.2
# respectively)
rate_element.attrib['sense'] = 'decr'
rate_element.text = '0.1'
new_rate_element = et.SubElement(actuator_element, 'rate_limit')
new_rate_element.attrib['sense'] = 'incr'
new_rate_element.text = '0.2'
tree.write(output_file)
self.CheckRateLimit(input_prop, output_prop, 0.2, -0.1)
# Check when the descending rate is set by a property and the ascending
# rate is set by a value.
rate_element.text = 'fcs/rate-limit-value'
tree.write(output_file)
self.CheckRateLimit(input_prop, output_prop, 0.2, -0.15)
# Check when the ascending rate is set by a property and the descending
# rate is set by a value.
rate_element.text = '0.1'
new_rate_element.text = 'fcs/rate-limit-value'
tree.write(output_file)
self.CheckRateLimit(input_prop, output_prop, 0.15, -0.1)
# Check when the ascending and descending rates are set by properties
rate_element.text = 'fcs/rate-limit-value2'
tree.write(output_file)
self.CheckRateLimit(input_prop, output_prop, 0.15, -0.05)
class TestActuator(JSBSimTestCase):
def setUp(self):
JSBSimTestCase.setUp(self)
self.script_path = self.sandbox.path_to_jsbsim_file(
'scripts', 'c1724.xml')
# Since we will alter the aircraft definition file, we need make a copy
# of it and of all the files it is refering to.
self.tree, self.aircraft_name, self.path_to_jsbsim_aircrafts = CopyAircraftDef(
self.script_path, self.sandbox)
def ScriptExecution(self, fdm, time_limit=1E+9):
fdm.load_script(self.script_path)
fdm.run_ic()
while fdm.run() and fdm.get_sim_time() < time_limit:
aileron_pos = fdm['fcs/left-aileron-pos-rad']
self.assertEqual(
aileron_pos,
0.0,
msg=
"Failed running the script %s at time step %f\nProperty fcs/left-aileron-pos-rad is non-zero (%f)"
% (self.script_path, fdm.get_sim_time(), aileron_pos))
def CheckRateValue(self, fdm, rate_value):
aileron_course = []
t0 = fdm.get_sim_time()
while fdm.run() and fdm.get_sim_time() <= t0 + 1.0:
aileron_course += [(fdm.get_sim_time(), fdm[self.output_prop])]
# Thanks to a linear regression on the values, we can check that the
# value is following a slope equal to the rate limit. The correlation
# coefficient r_value is also checked to verify that the output is
# evolving linearly.
slope, intercept, r_value, p_value, std_err = stats.linregress(
aileron_course)
self.assertTrue(abs(slope - rate_value) < 1E-9
and abs(1.0 - abs(r_value)) < 1E-9,
msg="The actuator rate is not linear")
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_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
# Delete the FDM instance to make sure that all files are closed and
# released before running the same script in another process.
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(
os.path.join('aircraft', self.aircraft_name,
self.aircraft_name + '.xml'))
# 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=SubProcessScriptExecution,
args=(self.sandbox, self.script_path))
p.start()
p.join(exec_time * 20.0) # Wait 20 times the reference time
alive = p.is_alive()
if alive:
p.terminate()
self.assertFalse(alive, msg="The script has hung")
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'))
root = tree.getroot()
flight_control_element = root.find('flight_control')
actuator_element = flight_control_element.find(
'channel/actuator//rate_limit/..')
rate_element = actuator_element.find('rate_limit')
property = et.SubElement(flight_control_element, 'property')
property.text = 'fcs/rate-limit-value'
property.attrib['value'] = rate_element.text
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
output_element = root.find('output')
output_element.attrib['name'] = 'test.csv'
tree.write(
os.path.join('aircraft', self.aircraft_name,
self.aircraft_name + '.xml'))
fdm = self.create_fdm()
fdm.set_aircraft_path('aircraft')
self.ScriptExecution(fdm)
def prepare_actuator(self):
tree = et.parse(
os.path.join(self.path_to_jsbsim_aircrafts,
self.aircraft_name + '.xml'))
flight_control_element = tree.getroot().find('flight_control')
actuator_element = flight_control_element.find(
'channel/actuator//rate_limit/..')
# Remove the hysteresis. We want to make sure we are measuring the
# rate_limit and just that.
hysteresis_element = actuator_element.find('hysteresis')
actuator_element.remove(hysteresis_element)
input_element = actuator_element.find('input')
self.input_prop = actuator_element.attrib['name'].split('-')
self.input_prop[-1] = 'input'
self.input_prop = '-'.join(self.input_prop)
input_element.text = self.input_prop
self.output_prop = actuator_element.find('output').text
property = et.SubElement(flight_control_element, 'property')
property.text = self.input_prop
property.attrib['value'] = '0.0'
return (tree, flight_control_element, actuator_element)
def test_actuator_rate_is_linear(self):
# Third part of the test.
########################
#
# The test is run again but this time we are checking that rate_limit
# drives the actuator output value as expected. The idea is to store
# the output value of the actuator output vs the time and check with a
# linear regression that
# 1. The actuator output value is evolving linearly
# 2. The slope of the actuator output is equal to the rate_limit value
# The test is run with the rate_limit given by a value, a property,
# different values of the ascending and descending rates and a number
# of combinations thereof.
# The aircraft file definition is modified such that the actuator
# element input is driven by a unique property. The name of this unique
# property is built in the variable 'input_prop' below. When setting
# that property to 1.0 (resp. -1.0) the ascending (resp. descending)
# rate is triggered.
tree, flight_control_element, actuator_element = self.prepare_actuator(
)
# Add the new properties to <flight_control> so that we can make
# reference to them without JSBSim complaining
property = et.SubElement(flight_control_element, 'property')
property.text = 'fcs/rate-limit-value'
property.attrib['value'] = '0.15'
property = et.SubElement(flight_control_element, 'property')
property.text = 'fcs/rate-limit-value2'
property.attrib['value'] = '0.05'
# First check with rate_limit set to 0.1
rate_element = actuator_element.find('rate_limit')
rate_element.text = '0.1'
output_file = os.path.join('aircraft', self.aircraft_name,
self.aircraft_name + '.xml')
tree.write(output_file)
self.CheckRateLimit(0.1, -0.1)
# Check when rate_limit is set by the property 'fcs/rate-limit-value'
tree = et.parse(output_file)
flight_control_element = tree.getroot().find('flight_control')
actuator_element = flight_control_element.find(
'channel/actuator//rate_limit/..')
rate_element = actuator_element.find('rate_limit')
rate_element.text = 'fcs/rate-limit-value'
tree.write(output_file)
self.CheckRateLimit(0.15, -0.15)
# Checking when the ascending and descending rates are different.
# First with the 2 rates set by hard coded values (0.1 and 0.2
# respectively)
rate_element.attrib['sense'] = 'decr'
rate_element.text = '0.1'
new_rate_element = et.SubElement(actuator_element, 'rate_limit')
new_rate_element.attrib['sense'] = 'incr'
new_rate_element.text = '0.2'
tree.write(output_file)
self.CheckRateLimit(0.2, -0.1)
# Check when the descending rate is set by a property and the ascending
# rate is set by a value.
rate_element.text = 'fcs/rate-limit-value'
tree.write(output_file)
self.CheckRateLimit(0.2, -0.15)
# Check when the ascending rate is set by a property and the descending
# rate is set by a value.
rate_element.text = '0.1'
new_rate_element.text = 'fcs/rate-limit-value'
tree.write(output_file)
self.CheckRateLimit(0.15, -0.1)
# Check when the ascending and descending rates are set by properties
rate_element.text = 'fcs/rate-limit-value2'
tree.write(output_file)
self.CheckRateLimit(0.15, -0.05)
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_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']
# Regression test for the bug reported in issue #200
# JSBSim crashes when "fail hardover" is set while no <clipto> element is
# specified.
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 AddAccelerometersToAircraft(self, script_path):
tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox)
system_tag = et.SubElement(tree.getroot(), 'system')
system_tag.attrib['file'] = 'accelerometers'
tree.write(
self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml'))
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)
def AddAccelerometersToAircraft(self, script_path):
tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox)
system_tag = et.SubElement(tree.getroot(), 'system')
system_tag.attrib['file'] = 'accelerometers'
tree.write(self.sandbox('aircraft', aircraft_name, aircraft_name+'.xml'))
class TestLGearSteer(JSBSimTestCase):
def test_direct_steer(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c172r')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'c172r', 'reset00'), False)
fdm.run_ic()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0)
# Should be part of a unit test in C++ ?
fpectl.turnon_sigfpe()
grndreact = fdm.get_ground_reactions()
for i in xrange(grndreact.get_num_gear_units()):
gear = grndreact.get_gear_unit(i)
self.assertEqual(gear.get_steer_norm(), 0.0)
fpectl.turnoff_sigfpe()
fdm['fcs/steer-pos-deg'] = 5.0
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
fdm['fcs/steer-cmd-norm'] = 1.0
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 10.0)
def test_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 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 isCastered(self):
fdm = self.steerType(True, True, True)
self.assertTrue(fdm['gear/unit/castered'])
fdm['fcs/steer-cmd-norm'] = 0.5
fdm.run()
self.assertEqual(fdm['gear/unit/steering-angle-deg'], 0.0)
# self.assertEqual(fdm['fcs/steer-pos-deg'],
# fdm['gear/unit/steering-angle-deg'])
fdm['fcs/steer-pos-deg'] = 20.0
self.assertEqual(fdm['gear/unit/steering-angle-deg'], 0.0)
# self.assertEqual(fdm['fcs/steer-pos-deg'],
# fdm['gear/unit/steering-angle-deg'])
fdm['gear/unit/castered'] = 0.0
fdm['fcs/steer-cmd-norm'] = 1.0
fdm.run()
self.assertEqual(fdm['gear/unit/steering-angle-deg'],
float(self.max_steer_tag.text))
# self.assertEqual(fdm['fcs/steer-pos-deg'],
# fdm['gear/unit/steering-angle-deg'])
del fdm
def isSteered(self):
fdm = self.steerType(True, False, False)
fdm['fcs/steer-cmd-norm'] = 0.5
fdm.run()
self.assertEqual(fdm['fcs/steer-pos-deg'],
0.5*float(self.max_steer_tag.text))
del fdm
def test_steer_type(self):
self.script_path = self.sandbox.path_to_jsbsim_file('scripts',
'c1721.xml')
self.tree, self.aircraft_name, b = CopyAircraftDef(self.script_path,
self.sandbox)
root = self.tree.getroot()
self.max_steer_tag = root.find('ground_reactions/contact/max_steer')
# Check the fixed type
self.max_steer_tag.text = '0.0'
fdm = self.steerType(False, False, False)
del fdm
# Check the castered type
self.max_steer_tag.text = '360.0'
self.isCastered()
# Check the steered type
self.max_steer_tag.text = '10.0'
fdm = self.steerType(True, False, False)
fdm['fcs/steer-cmd-norm'] = 0.5
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0)
del fdm
bogey_tag = root.find('ground_reactions/contact//max_steer/..')
castered_tag = et.SubElement(bogey_tag, 'castered')
castered_tag.text = '1.0'
# Check that the bogey is castered no matter what is the value
# of <max_steer>
self.max_steer_tag.text = '10.0'
self.isCastered()
self.max_steer_tag.text = '0.0'
self.isCastered()
self.max_steer_tag.text = '360.0'
self.isCastered()
# Check the fixed type
castered_tag.text = '0.0'
self.max_steer_tag.text = '0.0'
fdm = self.steerType(False, False, False)
del fdm
# Check the steered type
self.max_steer_tag.text = '10.0'
self.isSteered()
# Check the steered type with 360.0
self.max_steer_tag.text = '360.0'
self.isSteered()
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 = 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 TestLGearSteer(JSBSimTestCase):
def test_direct_steer(self):
fdm = self.create_fdm()
fdm.load_model('c172r')
fdm.load_ic('reset00', True)
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 range(grndreact.get_num_gear_units()):
gear = grndreact.get_gear_unit(i)
self.assertEqual(gear.get_steer_norm(), 0.0)
fpectl.turnoff_sigfpe()
fdm['fcs/steer-pos-deg'] = 5.0
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
fdm['fcs/steer-cmd-norm'] = 1.0
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 10.0)
def test_steer_with_fcs(self):
fdm = self.create_fdm()
fdm.load_model('L410')
fdm.load_ic('reset00', True)
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 steerType(self, hasSteerPosDeg, hasSteeringAngle, hasCastered):
self.tree.write(
self.sandbox('aircraft', self.aircraft_name,
self.aircraft_name + '.xml'))
fdm = self.create_fdm()
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 isCastered(self):
fdm = self.steerType(True, True, True)
self.assertTrue(fdm['gear/unit/castered'])
fdm['fcs/steer-cmd-norm'] = 0.5
fdm.run()
self.assertEqual(fdm['gear/unit/steering-angle-deg'], 0.0)
# self.assertEqual(fdm['fcs/steer-pos-deg'],
# fdm['gear/unit/steering-angle-deg'])
fdm['fcs/steer-pos-deg'] = 20.0
self.assertEqual(fdm['gear/unit/steering-angle-deg'], 0.0)
# self.assertEqual(fdm['fcs/steer-pos-deg'],
# fdm['gear/unit/steering-angle-deg'])
fdm['gear/unit/castered'] = 0.0
fdm['fcs/steer-cmd-norm'] = 1.0
fdm.run()
self.assertEqual(fdm['gear/unit/steering-angle-deg'],
float(self.max_steer_tag.text))
# self.assertEqual(fdm['fcs/steer-pos-deg'],
# fdm['gear/unit/steering-angle-deg'])
def isSteered(self):
fdm = self.steerType(True, False, False)
fdm['fcs/steer-cmd-norm'] = 0.5
fdm.run()
self.assertEqual(fdm['fcs/steer-pos-deg'],
0.5 * float(self.max_steer_tag.text))
def test_steer_type(self):
self.script_path = self.sandbox.path_to_jsbsim_file(
'scripts', 'c1721.xml')
self.tree, self.aircraft_name, b = CopyAircraftDef(
self.script_path, self.sandbox)
root = self.tree.getroot()
self.max_steer_tag = root.find('ground_reactions/contact/max_steer')
# Check the fixed type
self.max_steer_tag.text = '0.0'
fdm = self.steerType(False, False, False)
# Check the castered type
self.max_steer_tag.text = '360.0'
self.isCastered()
# Check the steered type
self.max_steer_tag.text = '10.0'
fdm = self.steerType(True, False, False)
fdm['fcs/steer-cmd-norm'] = 0.5
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0)
bogey_tag = root.find('ground_reactions/contact//max_steer/..')
castered_tag = et.SubElement(bogey_tag, 'castered')
castered_tag.text = '1.0'
# Check that the bogey is castered no matter what is the value
# of <max_steer>
self.max_steer_tag.text = '10.0'
self.isCastered()
self.max_steer_tag.text = '0.0'
self.isCastered()
self.max_steer_tag.text = '360.0'
self.isCastered()
# Check the fixed type
castered_tag.text = '0.0'
self.max_steer_tag.text = '0.0'
fdm = self.steerType(False, False, False)
# Check the steered type
self.max_steer_tag.text = '10.0'
self.isSteered()
# Check the steered type with 360.0
self.max_steer_tag.text = '360.0'
self.isSteered()
class CheckFGBug1503(JSBSimTestCase):
def setUp(self):
JSBSimTestCase.setUp(self)
self.script_path = self.sandbox.path_to_jsbsim_file(
'scripts', 'c1724.xml')
# Since we will alter the aircraft definition file, we need make a copy
# of it and of all the files it is refering to.
self.tree, self.aircraft_name, self.path_to_jsbsim_aircrafts = CopyAircraftDef(
self.script_path, self.sandbox)
def ScriptExecution(self, fdm, time_limit=1E+9):
fdm.load_script(self.script_path)
fdm.run_ic()
while fdm.run() and fdm.get_sim_time() < time_limit:
aileron_pos = fdm['fcs/left-aileron-pos-rad']
self.assertEqual(
aileron_pos,
0.0,
msg=
"Failed running the script %s at time step %f\nProperty fcs/left-aileron-pos-rad is non-zero (%f)"
% (self.script_path, fdm.get_sim_time(), aileron_pos))
def CheckRateValue(self, fdm, output_prop, rate_value):
aileron_course = []
t0 = fdm.get_sim_time()
while fdm.run() and fdm.get_sim_time() <= t0 + 1.0:
aileron_course += [(fdm.get_sim_time(), fdm[output_prop])]
# Thanks to a linear regression on the values, we can check that the
# value is following a slope equal to the rate limit. The correlation
# coefficient r_value is also checked to verify that the output is
# evolving linearly.
slope, intercept, r_value, p_value, std_err = stats.linregress(
aileron_course)
self.assertTrue(abs(slope - rate_value) < 1E-9
and abs(1.0 - abs(r_value)) < 1E-9,
msg="The actuator rate is not linear")
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_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 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_is_linear(self):
# Third part of the test.
########################
#
# The test is run again but this time we are checking that rate_limit
# drives the actuator output value as expected. The idea is to store
# the output value of the actuator output vs the time and check with a
# linear regression that
# 1. The actuator output value is evolving linearly
# 2. The slope of the actuator output is equal to the rate_limit value
# The test is run with the rate_limit given by a value, a property,
# different values of the ascending and descending rates and a number
# of combinations thereof.
# The aircraft file definition is modified such that the actuator
# element input is driven by a unique property. The name of this unique
# property is built in the variable 'input_prop' below. When setting
# that property to 1.0 (resp. -1.0) the ascending (resp. descending)
# rate is triggered.
tree = et.parse(
os.path.join(self.path_to_jsbsim_aircrafts,
self.aircraft_name + '.xml'))
flight_control_element = tree.getroot().find('flight_control')
actuator_element = flight_control_element.find(
'channel/actuator//rate_limit/..')
# Remove the hysteresis. We want to make sure we are measuring the
# rate_limit and just that.
hysteresis_element = actuator_element.find('hysteresis')
actuator_element.remove(hysteresis_element)
input_element = actuator_element.find('input')
input_prop = string.split(actuator_element.attrib['name'], '-')
input_prop[-1] = 'input'
input_prop = string.join(input_prop, '-')
input_element.text = input_prop
output_element = actuator_element.find('output')
output_prop = string.strip(output_element.text)
# Add the new properties to <flight_control> so that we can make
# reference to them without JSBSim complaining
property = et.SubElement(flight_control_element, 'property')
property.text = input_prop
property.attrib['value'] = '0.0'
property = et.SubElement(flight_control_element, 'property')
property.text = 'fcs/rate-limit-value'
property.attrib['value'] = '0.15'
property = et.SubElement(flight_control_element, 'property')
property.text = 'fcs/rate-limit-value2'
property.attrib['value'] = '0.05'
# First check with rate_limit set to 0.1
rate_element = actuator_element.find('rate_limit')
rate_element.text = '0.1'
output_file = os.path.join('aircraft', self.aircraft_name,
self.aircraft_name + '.xml')
tree.write(output_file)
self.CheckRateLimit(input_prop, output_prop, 0.1, -0.1)
# Check when rate_limit is set by the property 'fcs/rate-limit-value'
tree = et.parse(output_file)
flight_control_element = tree.getroot().find('flight_control')
actuator_element = flight_control_element.find(
'channel/actuator//rate_limit/..')
rate_element = actuator_element.find('rate_limit')
rate_element.text = 'fcs/rate-limit-value'
tree.write(output_file)
self.CheckRateLimit(input_prop, output_prop, 0.15, -0.15)
# Checking when the ascending and descending rates are different.
# First with the 2 rates set by hard coded values (0.1 and 0.2
# respectively)
rate_element.attrib['sense'] = 'decr'
rate_element.text = '0.1'
new_rate_element = et.SubElement(actuator_element, 'rate_limit')
new_rate_element.attrib['sense'] = 'incr'
new_rate_element.text = '0.2'
tree.write(output_file)
self.CheckRateLimit(input_prop, output_prop, 0.2, -0.1)
# Check when the descending rate is set by a property and the ascending
# rate is set by a value.
rate_element.text = 'fcs/rate-limit-value'
tree.write(output_file)
self.CheckRateLimit(input_prop, output_prop, 0.2, -0.15)
# Check when the ascending rate is set by a property and the descending
# rate is set by a value.
rate_element.text = '0.1'
new_rate_element.text = 'fcs/rate-limit-value'
tree.write(output_file)
self.CheckRateLimit(input_prop, output_prop, 0.15, -0.1)
# Check when the ascending and descending rates are set by properties
rate_element.text = 'fcs/rate-limit-value2'
tree.write(output_file)
self.CheckRateLimit(input_prop, output_prop, 0.15, -0.05)