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_humidity_parameters(self):
# Table: Dew point (deg C), Vapor pressure (Pa), RH
humidity_table = [
(-40.0, 19.021201, 0.815452, 1.2040321),
(-30.0, 51.168875, 2.193645, 1.2038877),
(-20.0, 125.965126, 5.4002118, 1.2035517),
(-10.0, 287.031031, 12.3052182, 1.2028282),
( 0.0, 611.2, 26.2025655, 1.2013721),
( 10.0, 1226.030206, 52.5607604, 1.1986102),
( 20.0, 2332.5960221, 100., 1.1936395)
]
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
fdm['atmosphere/delta-T'] = 5.0*self.K_to_R
fdm.run_ic()
Psat = fdm['atmosphere/saturated-vapor-pressure-psf']/self.Pa_to_psf
self.assertAlmostEqual(Psat, humidity_table[-1][1])
self.assertAlmostEqual(fdm['atmosphere/vapor-pressure-psf'], 0.0)
self.assertAlmostEqual(fdm['atmosphere/RH'], 0.0)
self.assertAlmostEqual(fdm['atmosphere/dew-point-R'], 54.054)
for Tdp, Pv, RH, rho in humidity_table:
fdm['atmosphere/dew-point-R'] = (Tdp+273.15)*self.K_to_R
fdm.run_ic()
self.assertAlmostEqual(fdm['atmosphere/vapor-pressure-psf'],
Pv*self.Pa_to_psf)
self.assertAlmostEqual(fdm['atmosphere/RH'], RH)
self.assertAlmostEqual(fdm['atmosphere/rho-slugs_ft3']/(self.kg_to_slug*math.pow(0.3048,3)),
rho)
del fdm
def testKinematicTiming(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c172r')
fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', 'c172r',
'reset00'), False)
fdm.run_ic()
self.assertEqual(fdm['fcs/flap-cmd-norm'], 0.0)
self.assertEqual(fdm['fcs/flap-pos-deg'], 0.0)
# Test the flap down sequence. The flap command is set to a value
# higher than 1.0 to check that JSBSim clamps it to 1.0
fdm['fcs/flap-cmd-norm'] = 1.5
t = fdm['simulation/sim-time-sec']
while t < 2.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 5.*t)
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 4.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 10.*(t-1.))
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 5.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 30.)
fdm.run()
t = fdm['simulation/sim-time-sec']
# Test the flap up sequence with an interruption at 7.5 deg
fdm['fcs/flap-cmd-norm'] = 0.25
while t < 7.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 30.-10.*(t-5.))
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 7.5:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 10.-5.*(t-7.))
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 8.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 7.5)
fdm.run()
t = fdm['simulation/sim-time-sec']
# Complete the flap up sequence. The flap command is set to a value
# lower than 0.0 to check that JSBSim clamps it to 0.0
fdm['fcs/flap-cmd-norm'] = -1.
while t < 9.5:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 10.-5.*(t-7.5))
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 10.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 0.0)
fdm.run()
t = fdm['simulation/sim-time-sec']
def test_trim_on_ground(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c172x')
fdm['ic/theta-deg'] = 10.0
fdm.run_ic()
fdm['ic/theta-deg'] = 0.0
fdm['simulation/do_simple_trim'] = 2
def test_set_temperature(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
fdm.run_ic()
atmos = fdm.get_atmosphere()
eRankine = 3
# Check that there are no side effects if we call SetTemperature()
# twice in a row.
atmos.set_temperature(520, 0.0, eRankine)
fdm.run_ic()
self.assertAlmostEqual(1.0, fdm['atmosphere/T-R'] / 520.0)
atmos.set_temperature(500, 0.0, eRankine)
fdm.run_ic()
self.assertAlmostEqual(1.0, fdm['atmosphere/T-R'] / 500.0)
# Check that it works while a temperature gradient is set
graded_delta_T_K = -10.0
fdm['atmosphere/SL-graded-delta-T'] = graded_delta_T_K * self.K_to_R
atmos.set_temperature(530, 1000.0, eRankine)
fdm['ic/h-sl-ft'] = 1000.
fdm.run_ic()
self.assertAlmostEqual(1.0, fdm['atmosphere/T-R'] / 530.0)
del fdm
def test_pitot_angle(self):
script_name = 'ball_chute.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
# Add a Pitot angle to the Cessna 172
tree, aircraft_name, path_to_jsbsim_aircrafts = CopyAircraftDef(
script_path, self.sandbox)
root = tree.getroot()
pitot_angle_deg = 5.0
self.addPitotTube(root, 5.0)
contact_tag = root.find('./ground_reactions/contact')
contact_tag.attrib['type'] = 'STRUCTURE'
tree.write(
self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model('ball')
pitot_angle = pitot_angle_deg * math.pi / 180.
weight = fdm['inertia/weight-lbs']
spring_tag = contact_tag.find('./spring_coeff')
spring_coeff = float(spring_tag.text)
print("Weight=%d Spring=%d" % (weight, spring_coeff))
fdm['ic/h-sl-ft'] = weight / spring_coeff
fdm['forces/hold-down'] = 1.0
fdm.run_ic()
ExecuteUntil(fdm, 10.)
for i in range(36):
for j in range(-9, 10):
angle = math.pi * i / 18.0
angle2 = math.pi * j / 18.0
ca2 = math.cos(angle2)
fdm['atmosphere/wind-north-fps'] = 10. * math.cos(angle) * ca2
fdm['atmosphere/wind-east-fps'] = 10. * math.sin(angle) * ca2
fdm['atmosphere/wind-down-fps'] = 10. * math.sin(angle2)
fdm.run()
vg = fdm['velocities/vg-fps']
self.assertAlmostEqual(vg, 0.0, delta=1E-7)
vt = fdm['velocities/vt-fps']
self.assertAlmostEqual(vt, 10., delta=1E-7)
mach = vt / fdm['atmosphere/a-fps']
P = fdm['atmosphere/P-psf']
pt = P * math.pow(1 + 0.2 * mach * mach, 3.5)
psl = fdm['atmosphere/P-sl-psf']
rhosl = fdm['atmosphere/rho-sl-slugs_ft3']
A = math.pow((pt - P) / psl + 1.0, 1.0 / 3.5)
alpha = fdm['aero/alpha-rad']
beta = fdm['aero/beta-rad']
vc = math.sqrt(
7.0 * psl / rhosl *
(A - 1.0)) * math.cos(alpha + pitot_angle) * math.cos(beta)
self.assertAlmostEqual(fdm['velocities/vc-kts'],
max(0.0, vc) / 1.68781,
delta=1E-7)
def test_FG_reset(self):
# This test reproduces how FlightGear resets. The important thing is
# that the property manager is managed by FlightGear. So it is not
# deleted when the JSBSim instance is killed.
pm = jsbsim.FGPropertyManager(new_instance=True)
self.assertFalse(pm.hasNode('fdm/jsbsim/ic/lat-geod-deg'))
fdm = CreateFDM(self.sandbox, pm)
fdm.load_model('ball')
self.assertAlmostEqual(fdm['ic/lat-geod-deg'], 0.0)
fdm['ic/lat-geod-deg'] = 45.0
fdm.run_ic()
del fdm
# Check that the property ic/lat-geod-deg has survived the JSBSim
# instance.
self.assertTrue(pm.hasNode('fdm/jsbsim/ic/lat-geod-deg'))
# Re-use the property manager just as FlightGear does.
fdm = CreateFDM(self.sandbox, pm)
self.assertAlmostEqual(fdm['ic/lat-geod-deg'], 45.0)
del fdm
def test_trim_doesnt_ignite_rockets(self):
# Run a longitudinal trim with a rocket equipped with solid propellant
# boosters (aka SRBs). The trim algorithm will try to reach a vertical
# equilibrium by tweaking the throttle but since the rocket is nose up,
# the trim cannot converge. As a result the algorithm will set full
# throttle which will result in the SRBs ignition if the integration is
# not suspended. This bug has been reported in FlightGear and this test
# is checking that there is no regression.
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', 'J246',
'LC39'), False)
fdm.run_ic()
# Check that the SRBs are not ignited
self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0)
self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0)
try:
fdm['simulation/do_simple_trim'] = 1
except RuntimeError as e:
# The trim cannot succeed. Just make sure that the raised exception
# is due to the trim failure otherwise rethrow.
if e.args[0] != 'Trim Failed':
raise
# Check that the trim did not ignite the SRBs
self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0)
self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0)
def test_waypoint(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c310')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'c310', 'reset00'), False)
slr = 20925646.32546 # Sea Level Radius
TestCases = ((0.25*math.pi, 0.5*math.pi, 0.0, 0.0),
(0.0, 0.5*math.pi, math.pi, slr*0.25*math.pi),
# North pole
(0.5*math.pi, 0.5*math.pi, 0.0, slr*0.25*math.pi),
# South pole
(-0.5*math.pi, 0.5*math.pi, math.pi, slr*0.75*math.pi),
(0.0, 0.0, 1.5*math.pi, slr*0.5*math.pi),
(0.0, math.pi, 0.5*math.pi, slr*0.5*math.pi))
fdm['ic/lat-gc-rad'] = TestCases[0][0]
fdm['ic/long-gc-rad'] = TestCases[0][1]
for case in TestCases:
fdm['guidance/target_wp_latitude_rad'] = case[0]
fdm['guidance/target_wp_longitude_rad'] = case[1]
fdm.run_ic()
self.assertAlmostEqual(fdm['guidance/wp-heading-rad'], case[2])
self.assertAlmostEqual(fdm['guidance/wp-distance'], case[3])
def test_trim_doesnt_ignite_rockets(self):
# Run a longitudinal trim with a rocket equipped with solid propellant
# boosters (aka SRBs). The trim algorithm will try to reach a vertical
# equilibrium by tweaking the throttle but since the rocket is nose up,
# the trim cannot converge. As a result the algorithm will set full
# throttle which will result in the SRBs ignition if the integration is
# not suspended. This bug has been reported in FlightGear and this test
# is checking that there is no regression.
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
fdm.load_ic(
self.sandbox.path_to_jsbsim_file('aircraft', 'J246', 'LC39'),
False)
fdm.run_ic()
# Check that the SRBs are not ignited
self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0)
self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0)
try:
fdm['simulation/do_simple_trim'] = 1
except RuntimeError as e:
# The trim cannot succeed. Just make sure that the raised exception
# is due to the trim failure otherwise rethrow.
if e.args[0] != 'Trim Failed':
raise
# Check that the trim did not ignite the SRBs
self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0)
self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0)
def test_direct_steer(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c172r')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'c172r', 'reset00'), False)
fdm.run_ic()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0)
# Should be part of a unit test in C++ ?
fpectl.turnon_sigfpe()
grndreact = fdm.get_ground_reactions()
for i in xrange(grndreact.get_num_gear_units()):
gear = grndreact.get_gear_unit(i)
self.assertEqual(gear.get_steer_norm(), 0.0)
fpectl.turnoff_sigfpe()
fdm['fcs/steer-pos-deg'] = 5.0
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
fdm['fcs/steer-cmd-norm'] = 1.0
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 10.0)
def test_steer_with_fcs(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('L410')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'L410', 'reset00'), False)
fdm.run_ic()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0)
fdm['fcs/steer-cmd-norm'] = 1.0
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0)
fdm['/controls/switches/full-steering-sw'] = 1.0
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0)
fdm['/controls/switches/full-steering-sw'] = 2.0
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 45.0)
fdm['fcs/steer-cmd-norm'] = -0.5
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], -0.5)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], -22.5)
def test_steer_with_fcs(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('L410')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'L410', 'reset00'), False)
fdm.run_ic()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0)
fdm['fcs/steer-cmd-norm'] = 1.0
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0)
fdm['/controls/switches/full-steering-sw'] = 1.0
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0)
fdm['/controls/switches/full-steering-sw'] = 2.0
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 45.0)
fdm['fcs/steer-cmd-norm'] = -0.5
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], -0.5)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], -22.5)
def test_waypoint(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c310')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'c310', 'reset00'), False)
slr = 20925646.32546 # Sea Level Radius
TestCases = (
(0.25 * math.pi, 0.5 * math.pi, 0.0, 0.0),
(0.0, 0.5 * math.pi, math.pi, slr * 0.25 * math.pi),
# North pole
(0.5 * math.pi, 0.5 * math.pi, 0.0, slr * 0.25 * math.pi),
# South pole
(-0.5 * math.pi, 0.5 * math.pi, math.pi, slr * 0.75 * math.pi),
(0.0, 0.0, 1.5 * math.pi, slr * 0.5 * math.pi),
(0.0, math.pi, 0.5 * math.pi, slr * 0.5 * math.pi))
fdm['ic/lat-gc-rad'] = TestCases[0][0]
fdm['ic/long-gc-rad'] = TestCases[0][1]
for case in TestCases:
fdm['guidance/target_wp_latitude_rad'] = case[0]
fdm['guidance/target_wp_longitude_rad'] = case[1]
fdm.run_ic()
self.assertAlmostEqual(fdm['guidance/wp-heading-rad'], case[2])
self.assertAlmostEqual(fdm['guidance/wp-distance'], case[3])
def test_std_atmosphere(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
self.check_temperature(fdm, self.T0, 0.0)
self.check_pressure(fdm, self.P0, self.T0, 0.0)
del fdm
def test_trim_on_ground(self):
# Check that the trim is made with up to date initial conditions
fdm = CreateFDM(self.sandbox)
fdm.load_model('c172x')
fdm['ic/theta-deg'] = 10.0
fdm.run_ic()
fdm['ic/theta-deg'] = 0.0
# If the trim fails, it will raise an exception
fdm['simulation/do_simple_trim'] = 2
def test_asl_override_vs_geod_lat(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c310')
fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', 'c310',
'ellington.xml'), False)
geod_lat = fdm['ic/lat-geod-deg']
fdm['ic/h-sl-ft'] = 35000.
self.assertAlmostEqual(fdm['ic/lat-geod-deg'], geod_lat)
def test_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_asl_override_vs_geod_lat(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c310')
fdm.load_ic(
self.sandbox.path_to_jsbsim_file('aircraft', 'c310',
'ellington.xml'), False)
geod_lat = fdm['ic/lat-geod-deg']
fdm['ic/h-sl-ft'] = 35000.
self.assertAlmostEqual(fdm['ic/lat-geod-deg'], geod_lat)
def test_sl_pressure_bias(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
P_sl = 95000.
fdm['atmosphere/P-sl-psf'] = P_sl * self.Pa_to_psf
self.check_temperature(fdm, self.T0, 0.0)
self.check_pressure(fdm, P_sl, self.T0, 0.0)
del fdm
def test_densityaltitude(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
# Reference data (Geometric Altitude, Temp Delta (Rankine), Density Altitude)
reference_data = [
(0, 0, 0), (0, -27, -1838.3210293), (0, 27, 1724.0715454),
(10000, 0, 10000), (10000, -27, 8842.6417730),
(10000, 27, 11117.881412), (20000, 0, 20000),
(20000, -27, 19524.3027252), (20000, 27, 20511.1447732),
(30000, 0, 30000), (30000, -27, 30206.6618955),
(30000, 27, 29903.8616766), (40000, 0, 40000),
(40000, -27, 40795.49296642545), (40000, 27, 39370.88017359472),
(50000, 0, 50000), (50000, -27, 51540.55687445524),
(50000, 27, 48722.498495051164), (60000, 0, 60000),
(60000, -27, 62286.38628793139), (60000, 27, 58073.53700852329),
(100000, 0, 100000), (100000, -27, 105340.83866126923),
(100000, 27, 95441.10933931815), (150000, 0, 150000),
(150000, -27, 159983.12837740956),
(150000, 27, 141847.12260237316), (160000, 0, 160000),
(160000, -27, 171305.317547756), (160000, 27, 150762.4482763878),
(220000, 0, 220000), (220000, -27, 233395.46205079104),
(220000, 27, 207735.4268030979), (260000, 0, 260000),
(260000, -27, 274351.9265767301), (260000, 27, 246964.3481013492),
(290000, 0, 290000), (290000, -27, 305321.815863847),
(290000, 27, 276290.37419984984), (320000, 0, 320000),
(320000, -27, 337990.28144264355), (320000, 27, 304417.9280936986)
]
# Run through refernce data and compare JSBSim calculated density altitude to expected
for geometric_alt, delta_T, density_alt in reference_data:
fdm['ic/h-sl-ft'] = geometric_alt
fdm['atmosphere/delta-T'] = delta_T
fdm.run_ic()
jsbSim_density_alt = fdm['atmosphere/density-altitude']
if density_alt < 1E-9:
self.assertAlmostEqual(density_alt, jsbSim_density_alt)
else:
self.assertAlmostEqual(1.0, jsbSim_density_alt / density_alt)
density_ref = fdm['atmosphere/rho-slugs_ft3']
fdm['ic/h-sl-ft'] = jsbSim_density_alt
fdm['atmosphere/delta-T'] = 0.0
fdm.run_ic()
self.assertAlmostEqual(density_ref,
fdm['atmosphere/rho-slugs_ft3'])
del fdm
def test_temperature_bias(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
delta_T_K = 15.0
T_sl = self.T0 + delta_T_K
fdm['atmosphere/delta-T'] = delta_T_K * self.K_to_R
self.check_temperature(fdm, T_sl, 0.0)
self.check_pressure(fdm, self.P0, T_sl, 0.0)
del fdm
def testSpinningBodyOnOrbit(self):
script_name = 'ball_orbit.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model('ball')
# Offset the CG along Y (by 30")
fdm.set_property_value('inertia/pointmass-weight-lbs[1]', 50.0)
aircraft_path = self.sandbox.elude(
self.sandbox.path_to_jsbsim_file('aircraft', 'ball'))
fdm.load_ic(os.path.join(aircraft_path, 'reset00.xml'), False)
# Switch the accel on
fdm.set_property_value('fcs/accelerometer/on', 1.0)
# Set the orientation such that the spinning axis is Z.
fdm.set_property_value('ic/phi-rad', 0.5 * math.pi)
# Set the angular velocities to 0.0 in the ECEF frame. The angular
# velocity R_{inertial} will therefore be equal to the Earth rotation
# rate 7.292115E-5 rad/sec
fdm.set_property_value('ic/p-rad_sec', 0.0)
fdm.set_property_value('ic/q-rad_sec', 0.0)
fdm.set_property_value('ic/r-rad_sec', 0.0)
fdm.run_ic()
fax = fdm.get_property_value('fcs/accelerometer/X')
fay = fdm.get_property_value('fcs/accelerometer/Y')
faz = fdm.get_property_value('fcs/accelerometer/Z')
cgy_ft = fdm.get_property_value('inertia/cg-y-in') / 12.
omega = 0.00007292115 # Earth rotation rate in rad/sec
self.assertAlmostEqual(
fdm.get_property_value('accelerations/a-pilot-x-ft_sec2'),
fax,
delta=1E-8)
self.assertAlmostEqual(
fdm.get_property_value('accelerations/a-pilot-y-ft_sec2'),
fay,
delta=1E-8)
self.assertAlmostEqual(
fdm.get_property_value('accelerations/a-pilot-z-ft_sec2'),
faz,
delta=1E-8)
# Acceleration along X should be zero
self.assertAlmostEqual(fax, 0.0, delta=1E-8)
# Acceleration along Y should be equal to r*omega^2
self.assertAlmostEqual(fay / (cgy_ft * omega * omega), 1.0, delta=1E-7)
# Acceleration along Z should be zero
self.assertAlmostEqual(faz, 0.0, delta=1E-8)
def testKinematicSetInitialValue(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('p51d')
fdm.load_ic('reset01', True)
fdm.run_ic()
fdm['gear/gear-cmd-norm'] = 0.5
fdm['gear/gear-pos-norm'] = 0.5
while fdm['simulation/sim-time-sec'] < 1.0:
fdm.run()
self.assertAlmostEqual(fdm['gear/gear-cmd-norm'], 0.5)
self.assertAlmostEqual(fdm['gear/gear-pos-norm'], 0.5)
def test_pressurealtitude(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
# Reference data (Geometric Altitude, Temp Delta (Rankine), Pressure Altitude)
reference_data = [
(0, 0, 0), (0, -27, 0), (0, 27, 0), (10000, 0, 10000),
(10000, -27, 10549.426597202142), (10000, 27, 9504.969939165301),
(20000, 0, 20000), (20000, -27, 21099.40877940678),
(20000, 27, 19009.488882465), (30000, 0, 30000),
(30000, -27, 31649.946590500946), (30000, 27, 28513.556862000503),
(40000, 0, 40000), (40000, -27, 42294.25242340247),
(40000, 27, 37972.879013500584), (50000, 0, 50000),
(50000, -27, 53040.858132036126), (50000, 27, 47323.24573196882),
(60000, 0, 60000), (60000, -27, 63788.23024872676),
(60000, 27, 56673.032160129085), (100000, 0, 100000),
(100000, -27, 107018.51146890492), (100000, 27, 93910.6118895332),
(150000, 0, 150000), (150000, -27, 161956.60354430682),
(150000, 27, 139810.93668842476), (160000, 0, 160000),
(160000, -27, 172582.32995327076), (160000, 27, 148992.4108097521),
(220000, 0, 220000), (220000, -27, 233772.88181515134),
(220000, 27, 207274.89794422916), (260000, 0, 260000),
(260000, -27, 275000.20893894637),
(260000, 27, 246263.63421221747), (290000, 0, 290000),
(290000, -27, 306867.8082342206), (290000, 27, 275185.69941262825),
(320000, 0, 320000), (320000, -27, 339541.05112835445),
(320000, 27, 302991.642663158)
]
# Run through refernce data and compare JSBSim calculated pressure altitude to expected
for geometric_alt, delta_T, pressure_alt in reference_data:
fdm['ic/h-sl-ft'] = geometric_alt
fdm['atmosphere/delta-T'] = delta_T
fdm.run_ic()
jsbSim_pressure_alt = fdm['atmosphere/pressure-altitude']
self.assertAlmostEqual(pressure_alt,
jsbSim_pressure_alt,
delta=1e-7)
pressure_ref = fdm['atmosphere/P-psf']
fdm['ic/h-sl-ft'] = jsbSim_pressure_alt
fdm['atmosphere/delta-T'] = 0.0
fdm.run_ic()
self.assertAlmostEqual(pressure_ref, fdm['atmosphere/P-psf'])
del fdm
def test_static_hold_down(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'J246', 'LC39'), False)
fdm['forces/hold-down'] = 1.0
fdm.run_ic()
h0 = fdm['position/h-sl-ft']
t = 0.0
while t < 420.0:
fdm.run()
t = fdm['simulation/sim-time-sec']
self.assertAlmostEqual(fdm['position/h-sl-ft'], h0, delta=1E-5)
def test_initial_latitude(self):
Output_file = self.sandbox.path_to_jsbsim_file('tests', 'output.xml')
GEODETIC, ELEVATION, ALTITUDE = (1, 2, 4)
for v in ('', '_v2'):
IC_file = self.sandbox.path_to_jsbsim_file('aircraft', 'ball',
'reset00' + v + '.xml')
for i in xrange(8):
for latitude_pos in xrange(4):
IC_tree = et.parse(IC_file)
IC_root = IC_tree.getroot()
if v:
position_tag = IC_root.find('position')
latitude_tag = et.SubElement(position_tag, 'latitude')
latitude_tag.attrib['unit'] = 'DEG'
else:
position_tag = IC_root
latitude_tag = IC_root.find('latitude')
latitude_tag.text = str(latitude_pos * 30.)
if i & GEODETIC:
latitude_tag.attrib['type'] = 'geod'
if i & ELEVATION:
elevation_tag = et.SubElement(IC_root, 'elevation')
elevation_tag.text = '1000.'
if i & ALTITUDE:
if v:
altitude_tag = position_tag.find('altitudeMSL')
altitude_tag.tag = 'altitudeAGL'
else:
altitude_tag = position_tag.find('altitude')
altitude_tag.tag = 'altitudeMSL'
IC_tree.write('IC.xml')
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
fdm.set_output_directive(Output_file)
fdm.set_output_filename(1, 'check_csv_values.csv')
fdm.load_ic('IC.xml', False)
fdm.run_ic()
self.CheckICValues(self.GetVariables(latitude_tag),
'IC%d' % (i, ), fdm, position_tag)
del fdm
def testKinematicSetInitialValue(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('p51d')
fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', 'p51d',
'reset01'), False)
fdm.run_ic()
fdm['gear/gear-cmd-norm'] = 0.5
fdm['gear/gear-pos-norm'] = 0.5
while fdm['simulation/sim-time-sec'] < 1.0:
fdm.run()
self.assertAlmostEqual(fdm['gear/gear-cmd-norm'], 0.5)
self.assertAlmostEqual(fdm['gear/gear-pos-norm'], 0.5)
def test_initial_latitude(self):
Output_file = self.sandbox.path_to_jsbsim_file('tests', 'output.xml')
GEODETIC, ELEVATION, ALTITUDE = (1, 2, 4)
for v in ('', '_v2'):
IC_file = self.sandbox.path_to_jsbsim_file('aircraft', 'ball',
'reset00'+v+'.xml')
for i in xrange(8):
for latitude_pos in xrange(4):
IC_tree = et.parse(IC_file)
IC_root = IC_tree.getroot()
if v:
position_tag = IC_root.find('position')
latitude_tag = et.SubElement(position_tag, 'latitude')
latitude_tag.attrib['unit'] = 'DEG'
else:
position_tag = IC_root
latitude_tag = IC_root.find('latitude')
latitude_tag.text = str(latitude_pos*30.)
if i & GEODETIC:
latitude_tag.attrib['type'] = 'geod'
if i & ELEVATION:
elevation_tag = et.SubElement(IC_root, 'elevation')
elevation_tag.text = '1000.'
if i & ALTITUDE:
if v:
altitude_tag = position_tag.find('altitudeMSL')
altitude_tag.tag = 'altitudeAGL'
else:
altitude_tag = position_tag.find('altitude')
altitude_tag.tag = 'altitudeMSL'
IC_tree.write('IC.xml')
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
fdm.set_output_directive(Output_file)
fdm.set_output_filename(1, 'check_csv_values.csv')
fdm.load_ic('IC.xml', False)
fdm.run_ic()
self.CheckICValues(self.GetVariables(latitude_tag),
'IC%d' % (i,), fdm, position_tag)
del fdm
def test_pressure_and_temperature_bias(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
delta_T_K = 15.0
T_sl = self.T0 + delta_T_K
fdm['atmosphere/delta-T'] = delta_T_K * self.K_to_R
P_sl = 95000.
fdm['atmosphere/P-sl-psf'] = P_sl * self.Pa_to_psf
self.check_temperature(fdm, T_sl, 0.0)
self.check_pressure(fdm, P_sl, T_sl, 0.0)
del fdm
def test_static_hold_down(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'J246', 'LC39'), False)
fdm['forces/hold-down'] = 1.0
fdm.run_ic()
h0 = fdm['position/h-sl-ft']
t = 0.0
while t < 420.0:
fdm.run()
t = fdm['simulation/sim-time-sec']
self.assertAlmostEqual(fdm['position/h-sl-ft'], h0, delta=1E-5)
def testKinematicSetInitialValue(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('p51d')
fdm.load_ic(
self.sandbox.path_to_jsbsim_file('aircraft', 'p51d', 'reset01'),
False)
fdm.run_ic()
fdm['gear/gear-cmd-norm'] = 0.5
fdm['gear/gear-pos-norm'] = 0.5
while fdm['simulation/sim-time-sec'] < 1.0:
fdm.run()
self.assertAlmostEqual(fdm['gear/gear-cmd-norm'], 0.5)
self.assertAlmostEqual(fdm['gear/gear-pos-norm'], 0.5)
def test_static_hold_down(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
fdm.load_ic('LC39', True)
fdm['forces/hold-down'] = 1.0
fdm.run_ic()
h0 = fdm['position/vrp-radius-ft']
t = 0.0
while t < 420.0:
fdm.run()
t = fdm['simulation/sim-time-sec']
self.assertAlmostEqual(fdm['position/vrp-radius-ft'] / h0,
1.0,
delta=1E-9)
def test_temperature_gradient(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
graded_delta_T_K = -10.0
fdm['atmosphere/SL-graded-delta-T'] = graded_delta_T_K*self.K_to_R
T_gradient = graded_delta_T_K / self.gradient_fade_out_h
self.assertAlmostEqual(T_gradient*self.K_to_R/self.km_to_ft,
fdm['atmosphere/SL-graded-delta-T'])
self.check_temperature(fdm, self.T0 + graded_delta_T_K, T_gradient)
self.check_pressure(fdm, self.P0, self.T0 + graded_delta_T_K, T_gradient)
del fdm
def testAircrafts(self):
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
for d in os.listdir(aircraft_path):
fullpath = os.path.join(aircraft_path, d)
# Is d a directory ?
if not os.path.isdir(fullpath):
continue
f = os.path.join(aircraft_path, d, d + '.xml')
# Is f an aircraft definition file ?
if not CheckXMLFile(f, 'fdm_config'):
continue
if d in ('blank'):
continue
fdm = CreateFDM(self.sandbox)
self.assertTrue(fdm.load_model(d),
msg='Failed to load aircraft %s' % (d, ))
for f in os.listdir(fullpath):
f = os.path.join(aircraft_path, d, f)
if CheckXMLFile(f, 'initialize'):
self.assertTrue(
fdm.load_ic(f, False),
msg='Failed to load IC %s for aircraft %s' % (f, d))
try:
fdm.run_ic()
except RuntimeError:
self.fail('Failed to run IC %s for aircraft %s' %
(f, d))
del fdm
def testAircrafts(self):
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
for d in os.listdir(aircraft_path):
fullpath = os.path.join(aircraft_path, d)
# Is d a directory ?
if not os.path.isdir(fullpath):
continue
f = os.path.join(aircraft_path, d, d+'.xml')
# Is f an aircraft definition file ?
if not CheckXMLFile(f, 'fdm_config'):
continue
if d in ('blank'):
continue
fdm = CreateFDM(self.sandbox)
self.assertTrue(fdm.load_model(d),
msg='Failed to load aircraft %s' % (d,))
for f in os.listdir(fullpath):
f = os.path.join(aircraft_path, d, f)
if CheckXMLFile(f, 'initialize'):
self.assertTrue(fdm.load_ic(f, False),
msg='Failed to load IC %s for aircraft %s' % (f, d))
try:
fdm.run_ic()
except RuntimeError:
self.fail('Failed to run IC %s for aircraft %s' % (f, d))
del fdm
def testSpinningBodyOnOrbit(self):
script_name = 'ball_orbit.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model('ball')
# Offset the CG along Y (by 30")
fdm['inertia/pointmass-weight-lbs[1]'] = 50.0
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft', 'ball')
fdm.load_ic(os.path.join(aircraft_path, 'reset00.xml'), False)
# Switch the accel on
fdm['fcs/accelerometer/on'] = 1.0
# Set the orientation such that the spinning axis is Z.
fdm['ic/phi-rad'] = 0.5 * math.pi
# Set the angular velocities so that angular velocity R_{inertial} will
# be equal to 1.0 rad/sec.
omega = 0.00007292115 # Earth rotation rate in rad/sec
fdm['ic/p-rad_sec'] = 0.0
fdm['ic/q-rad_sec'] = 0.0
fdm['ic/r-rad_sec'] = 1.0 - omega
fdm.run_ic()
fax = fdm['fcs/accelerometer/X']
fay = fdm['fcs/accelerometer/Y']
faz = fdm['fcs/accelerometer/Z']
cgy_ft = fdm['inertia/cg-y-in'] / 12.
self.assertAlmostEqual(fdm['accelerations/a-pilot-x-ft_sec2'],
fax,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-y-ft_sec2'],
fay,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-z-ft_sec2'],
faz,
delta=1E-8)
# Acceleration along X should be zero
self.assertAlmostEqual(fax, 0.0, delta=1E-8)
# Acceleration along Y should be equal to d*r_dot^2
self.assertAlmostEqual(fay / cgy_ft, 1.0, delta=1E-7)
# Acceleration along Z should be zero
self.assertAlmostEqual(faz, 0.0, delta=1E-8)
def test_property_catalog(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
fdm.run_ic()
catalog = fdm.query_property_catalog('geod-deg')
self.assertEqual(len(catalog), 2)
self.assertEqual(catalog[0], 'position/lat-geod-deg (R)')
self.assertEqual(catalog[1], 'ic/lat-geod-deg (RW)')
values = fdm.get_property_catalog('geod-deg')
item = 'position/lat-geod-deg'
self.assertEqual(values[item], fdm[item])
item = 'ic/lat-geod-deg'
self.assertEqual(values[item], fdm[item])
del fdm
def test_direct_steer(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c172r')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'c172r', 'reset00'), False)
fdm.run_ic()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0)
fdm['fcs/steer-pos-deg'] = 5.0
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
fdm['fcs/steer-cmd-norm'] = 1.0
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 10.0)
def testSpinningBodyOnOrbit(self):
script_name = 'ball_orbit.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model('ball')
# Offset the CG along Y (by 30")
fdm.set_property_value('inertia/pointmass-weight-lbs[1]', 50.0)
aircraft_path = self.sandbox.elude(self.sandbox.path_to_jsbsim_file('aircraft', 'ball'))
fdm.load_ic(os.path.join(aircraft_path, 'reset00.xml'), False)
# Switch the accel on
fdm.set_property_value('fcs/accelerometer/on', 1.0)
# Set the orientation such that the spinning axis is Z.
fdm.set_property_value('ic/phi-rad', 0.5*math.pi)
# Set the angular velocities to 0.0 in the ECEF frame. The angular
# velocity R_{inertial} will therefore be equal to the Earth rotation
# rate 7.292115E-5 rad/sec
fdm.set_property_value('ic/p-rad_sec', 0.0)
fdm.set_property_value('ic/q-rad_sec', 0.0)
fdm.set_property_value('ic/r-rad_sec', 0.0)
fdm.run_ic()
fax = fdm.get_property_value('fcs/accelerometer/X')
fay = fdm.get_property_value('fcs/accelerometer/Y')
faz = fdm.get_property_value('fcs/accelerometer/Z')
cgy_ft = fdm.get_property_value('inertia/cg-y-in') / 12.
omega = 0.00007292115 # Earth rotation rate in rad/sec
self.assertAlmostEqual(fdm.get_property_value('accelerations/a-pilot-x-ft_sec2'),
fax, delta=1E-8)
self.assertAlmostEqual(fdm.get_property_value('accelerations/a-pilot-y-ft_sec2'),
fay, delta=1E-8)
self.assertAlmostEqual(fdm.get_property_value('accelerations/a-pilot-z-ft_sec2'),
faz, delta=1E-8)
# Acceleration along X should be zero
self.assertAlmostEqual(fax, 0.0, delta=1E-8)
# Acceleration along Y should be equal to r*omega^2
self.assertAlmostEqual(fay / (cgy_ft * omega * omega), 1.0, delta=1E-7)
# Acceleration along Z should be zero
self.assertAlmostEqual(faz, 0.0, delta=1E-8)
def 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 test_dynamic_hold_down(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
fdm.load_ic('LC39', True)
fdm['forces/hold-down'] = 1.0
fdm.run_ic()
h0 = fdm['position/vrp-radius-ft']
# Start solid rocket boosters
fdm['fcs/throttle-cmd-norm[0]'] = 1.0
fdm['fcs/throttle-cmd-norm[1]'] = 1.0
t = 0.0
while t < 420.0:
fdm.run()
t = fdm['simulation/sim-time-sec']
self.assertAlmostEqual(fdm['position/vrp-radius-ft'] / h0,
1.0,
delta=1E-9)
def testSpinningBodyOnOrbit(self):
script_name = 'ball_orbit.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model('ball')
# Offset the CG along Y (by 30")
fdm['inertia/pointmass-weight-lbs[1]'] = 50.0
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft', 'ball')
fdm.load_ic(os.path.join(aircraft_path, 'reset00.xml'), False)
# Switch the accel on
fdm['fcs/accelerometer/on'] = 1.0
# Set the orientation such that the spinning axis is Z.
fdm['ic/phi-rad'] = 0.5*math.pi
# Set the angular velocities so that angular velocity R_{inertial} will
# be equal to 1.0 rad/sec.
omega = 0.00007292115 # Earth rotation rate in rad/sec
fdm['ic/p-rad_sec'] = 0.0
fdm['ic/q-rad_sec'] = 0.0
fdm['ic/r-rad_sec'] = 1.0 - omega
fdm.run_ic()
fax = fdm['fcs/accelerometer/X']
fay = fdm['fcs/accelerometer/Y']
faz = fdm['fcs/accelerometer/Z']
cgy_ft = fdm['inertia/cg-y-in'] / 12.
self.assertAlmostEqual(fdm['accelerations/a-pilot-x-ft_sec2'], fax,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-y-ft_sec2'], fay,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-z-ft_sec2'], faz,
delta=1E-8)
# Acceleration along X should be zero
self.assertAlmostEqual(fax, 0.0, delta=1E-8)
# Acceleration along Y should be equal to d*r_dot^2
self.assertAlmostEqual(fay / cgy_ft, 1.0, delta=1E-7)
# Acceleration along Z should be zero
self.assertAlmostEqual(faz, 0.0, delta=1E-8)
def testKinematicNoScale(self):
# Test the <nocale/> feature
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'c1721.xml')
tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox)
kinematic_tag = tree.getroot().find('flight_control/channel/kinematic')
et.SubElement(kinematic_tag, 'noscale')
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model(aircraft_name)
fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', aircraft_name,
'reset00'), False)
fdm.run_ic()
fdm['fcs/flap-cmd-norm'] = 12.
ExecuteUntil(fdm, 2.2)
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 12.)
def test_dynamic_hold_down(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'J246', 'LC39'), False)
fdm['forces/hold-down'] = 1.0
fdm.run_ic()
h0 = fdm['position/vrp-radius-ft']
# Start solid rocket boosters
fdm['fcs/throttle-cmd-norm[0]'] = 1.0
fdm['fcs/throttle-cmd-norm[1]'] = 1.0
t = 0.0
while t < 420.0:
fdm.run()
t = fdm['simulation/sim-time-sec']
self.assertAlmostEqual(fdm['position/vrp-radius-ft'] / h0,
1.0,
delta=1E-9)
def test_alt_mod_vs_CAS(self):
script_name = 'Short_S23_3.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
# Add a Pitot angle to the Short S23
tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox)
self.addPitotTube(tree.getroot(), 10.0)
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model('Short_S23')
fdm['ic/beta-deg'] = 15.0 # Add some sideslip
fdm['ic/vc-kts'] = 172.0
fdm['ic/h-sl-ft'] = 15000.
self.assertAlmostEqual(fdm['ic/vc-kts'], 172.0, delta=1E-7)
self.assertAlmostEqual(fdm['ic/beta-deg'], 15.0, delta=1E-7)
fdm.run_ic()
self.assertAlmostEqual(fdm['velocities/vc-kts'], 172.0, delta=1E-7)
self.assertAlmostEqual(fdm['aero/beta-deg'], 15.0, delta=1E-7)
def test_no_script(self):
fdm = CreateFDM(self.sandbox)
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_model('c172x')
aircraft_path = os.path.join(aircraft_path, 'c172x')
fdm.load_ic(os.path.join(aircraft_path, 'reset01.xml'), False)
fdm.run_ic()
self.assertEqual(fdm['simulation/sim-time-sec'], 0.0)
ExecuteUntil(fdm, 5.0)
t = fdm['simulation/sim-time-sec']
fdm['simulation/do_simple_trim'] = 1
self.assertEqual(fdm['simulation/sim-time-sec'], t)
fdm.reset_to_initial_conditions(1)
self.assertEqual(fdm['simulation/sim-time-sec'], 0.0)
del fdm
def test_trim_on_ground(self):
# Check that the trim is made with up to date initial conditions
fdm = CreateFDM(self.sandbox)
fdm.load_model('c172x')
fdm['ic/theta-deg'] = 90.0
fdm.run_ic()
fdm['ic/theta-deg'] = 0.0
# If the trim fails, it will raise an exception
fdm['simulation/do_simple_trim'] = 2 # Ground trim
# Check that the aircraft has been trimmed successfully (velocities
# should be zero i.e. the aircraft must be motionless once trimmed).
while fdm['simulation/sim-time-sec'] <= 1.0:
fdm.run()
self.assertAlmostEqual(fdm['velocities/p-rad_sec'], 0., delta=1E-4)
self.assertAlmostEqual(fdm['velocities/q-rad_sec'], 0., delta=1E-4)
self.assertAlmostEqual(fdm['velocities/r-rad_sec'], 0., delta=1E-4)
self.assertAlmostEqual(fdm['velocities/u-fps'], 0.0, delta=1E-4)
self.assertAlmostEqual(fdm['velocities/v-fps'], 0.0, delta=1E-4)
self.assertAlmostEqual(fdm['velocities/w-fps'], 0.0, delta=1E-4)
def testKinematicAndTrim(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('p51d')
fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', 'p51d',
'reset01'), False)
self.assertEqual(fdm['gear/gear-cmd-norm'], 1.0)
# Set the landing gears up. Since the command is equal to 1.0, the
# <kinematic> system will trigger the gear down sequence.
fdm['gear/gear-pos-norm'] = 0.0
fdm.run_ic()
# The test succeeds if the trim does not raise an exception i.e. if the
# <kinematic> system does not interfer with the trim on ground
# algorithm.
fdm['simulation/do_simple_trim'] = 2 # Ground trim
# Check that the gear is down after the trim as requested by
# gear/gear-cmd-norm
self.assertAlmostEqual(fdm['gear/gear-pos-norm'], 1.0)
# Check that the gear is not moving to another position after trim.
fdm.run()
self.assertAlmostEqual(fdm['gear/gear-pos-norm'], 1.0)
def test_property_access(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
fdm.run_ic()
# Check that the node 'qwerty' does not exist
pm = fdm.get_property_manager()
self.assertFalse(pm.hasNode('qwerty'))
# Check the default behavior of get_property_value. Non existing
# properties return 0.0
self.assertEqual(fdm.get_property_value('qwerty'), 0.0)
# Verify that __getitem__ checks the existence and raises KeyError if
# the property does not exist.
with self.assertRaises(KeyError):
x = fdm['qwerty']
# Check that we can initialize a non existing property
fdm['qwerty'] = 42.0
self.assertAlmostEqual(fdm.get_property_value('qwerty'), 42.0)
self.assertAlmostEqual(fdm['qwerty'], 42.0)
del fdm
def test_pressurealtitude(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
# Reference data (Geometric Altitude, Temp Delta (Rankine), Pressure Altitude)
reference_data = [
(0, 0, 0),
(0, -27, 0),
(0, 27, 0),
(10000, 0, 10000),
(10000, -27, 10549.426597202142),
(10000, 27, 9504.969939165301),
(20000, 0, 20000),
(20000, -27, 21099.40877940678),
(20000, 27, 19009.488882465),
(30000, 0, 30000),
(30000, -27, 31649.946590500946),
(30000, 27, 28513.556862000503),
(40000, 0, 40000),
(40000, -27, 42294.25242340247),
(40000, 27, 37972.879013500584),
(50000, 0, 50000),
(50000, -27, 53040.858132036126),
(50000, 27, 47323.24573196882),
(60000, 0, 60000),
(60000, -27, 63788.23024872676),
(60000, 27, 56673.032160129085),
(100000, 0, 100000),
(100000, -27, 107018.51146890492),
(100000, 27, 93910.6118895332),
(150000, 0, 150000),
(150000, -27, 161956.60354430682),
(150000, 27, 139810.93668842476),
(160000, 0, 160000),
(160000, -27, 172582.32995327076),
(160000, 27, 148992.4108097521),
(220000, 0, 220000),
(220000, -27, 233772.88181515134),
(220000, 27, 207274.89794422916),
(260000, 0, 260000),
(260000, -27, 275000.20893894637),
(260000, 27, 246263.63421221747),
(290000, 0, 290000),
(290000, -27, 306867.8082342206),
(290000, 27, 275185.69941262825),
(320000, 0, 320000),
(320000, -27, 339541.05112835445),
(320000, 27, 302991.642663158)
]
# Run through refernce data and compare JSBSim calculated pressure altitude to expected
for geometric_alt, delta_T, pressure_alt in reference_data:
fdm['ic/h-sl-ft'] = geometric_alt
fdm['atmosphere/delta-T'] = delta_T
fdm.run_ic()
jsbSim_pressure_alt = fdm['atmosphere/pressure-altitude']
self.assertAlmostEqual(pressure_alt, jsbSim_pressure_alt, delta=1e-7)
pressure_ref = fdm['atmosphere/P-psf']
fdm['ic/h-sl-ft'] = jsbSim_pressure_alt
fdm['atmosphere/delta-T'] = 0.0
fdm.run_ic()
self.assertAlmostEqual(pressure_ref, fdm['atmosphere/P-psf'])
del fdm
def test_body_frame(self):
fdm = CreateFDM(self.sandbox)
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_model('f16')
aircraft_path = os.path.join(aircraft_path, 'f16')
fdm.load_ic(os.path.join(aircraft_path, 'reset00.xml'), False)
fdm.run_ic()
self.assertAlmostEqual(fdm['external_reactions/pushback/location-x-in'],
-2.98081)
self.assertAlmostEqual(fdm['external_reactions/pushback/location-y-in'],
0.0)
self.assertAlmostEqual(fdm['external_reactions/pushback/location-z-in'],
-1.9683)
self.assertAlmostEqual(fdm['external_reactions/pushback/x'], 1.0)
self.assertAlmostEqual(fdm['external_reactions/pushback/y'], 0.0)
self.assertAlmostEqual(fdm['external_reactions/pushback/z'], 0.0)
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'],
0.0)
self.assertAlmostEqual(fdm['external_reactions/hook/location-x-in'],
100.669)
self.assertAlmostEqual(fdm['external_reactions/hook/location-y-in'],
0.0)
self.assertAlmostEqual(fdm['external_reactions/hook/location-z-in'],
-28.818)
dx = -0.9995
dz = 0.01
fhook = np.array([dx, 0.0, dz])
fhook /= np.linalg.norm(fhook)
self.assertAlmostEqual(fdm['external_reactions/hook/x'], fhook[0])
self.assertAlmostEqual(fdm['external_reactions/hook/y'], fhook[1])
self.assertAlmostEqual(fdm['external_reactions/hook/z'], fhook[2])
self.assertAlmostEqual(fdm['external_reactions/hook/magnitude'], 0.0)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], 0.0)
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], 0.0)
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], 0.0)
# Check the 'pushback' external force alone
fdm['/sim/model/pushback/position-norm'] = 1.0
fdm['/sim/model/pushback/target-speed-fps'] = 1.0
fdm['/sim/model/pushback/kp'] = 0.05
fdm.run()
fpb = np.array([1.0, 0.0, 0.0]) * 0.05
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'],
0.05)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], fpb[0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], fpb[1])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], fpb[2])
m = np.cross(self.getLeverArm(fdm, 'pushback'), fpb)
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
# Reset the 'pushback' external force to zero
fdm['/sim/model/pushback/position-norm'] = 0.0
fdm.run()
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'], 0.0)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], 0.0)
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], 0.0)
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], 0.0)
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], 0.0)
# Check the 'hook' external force alone
fdm['external_reactions/hook/magnitude'] = 10.0
fhook *= 10.0
fdm.run()
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], fhook[0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], fhook[1])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], fhook[2])
m = np.cross(self.getLeverArm(fdm, 'hook'), fhook)
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
# Add the 'pushback' force to the hook force and check that the global
# external forces is the sum of the push back force and the hook force.
fdm['/sim/model/pushback/position-norm'] = 1.0
fdm.run()
fp = fdm['systems/pushback/force']
fpb = np.array([1.0, 0.0, 0.0]) * fp
f = fhook + fpb
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'], fp)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2])
# Modify the push back force direction and check that the global external
# force is modified accordingly.
fdm['external_reactions/pushback/x'] = 1.5
fdm['external_reactions/pushback/y'] = 0.1
fdm.run()
fp = fdm['systems/pushback/force']
fpb = np.array([1.5, 0.1, 0.0]) * fp
f = fhook + fpb
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'], fp)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2])
m = (np.cross(self.getLeverArm(fdm, 'pushback'), fpb)
+ np.cross(self.getLeverArm(fdm, 'hook'), fhook))
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
fdm['external_reactions/hook/location-y-in'] = 50.0
fdm.run()
fp = fdm['systems/pushback/force']
fpb = np.array([1.5, 0.1, 0.0]) * fp
f = fhook + fpb
self.assertAlmostEqual(fdm['external_reactions/pushback/magnitude'], fp)
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2])
m = (np.cross(self.getLeverArm(fdm, 'pushback'), fpb)
+ np.cross(self.getLeverArm(fdm, 'hook'), fhook))
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
