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_hold_down_with_gnd_reactions(self):
fdm = CreateFDM(self.sandbox)
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts',
'c1721.xml'))
fdm.run_ic()
ExecuteUntil(fdm, 0.25)
fdm['forces/hold-down'] = 1.0
h0 = fdm['position/h-sl-ft']
pitch = fdm['attitude/pitch-rad']
roll = fdm['attitude/roll-rad']
heading = fdm['attitude/heading-true-rad']
while fdm['simulation/sim-time-sec'] < 2.0:
fdm.run()
self.assertAlmostEqual(fdm['accelerations/pdot-rad_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/qdot-rad_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/rdot-rad_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/udot-ft_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/vdot-ft_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/wdot-ft_sec2'], 0.0)
self.assertAlmostEqual(fdm['position/h-sl-ft'], h0, delta=1E-6)
self.assertAlmostEqual(fdm['attitude/pitch-rad'], pitch)
self.assertAlmostEqual(fdm['attitude/roll-rad'], roll)
self.assertAlmostEqual(fdm['attitude/heading-true-rad'], heading)
def test_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_hold_down_with_gnd_reactions(self):
fdm = CreateFDM(self.sandbox)
fdm.load_script(
self.sandbox.path_to_jsbsim_file('scripts', 'c1721.xml'))
fdm.run_ic()
ExecuteUntil(fdm, 0.25)
fdm['forces/hold-down'] = 1.0
h0 = fdm['position/h-sl-ft']
pitch = fdm['attitude/pitch-rad']
roll = fdm['attitude/roll-rad']
heading = fdm['attitude/heading-true-rad']
while fdm['simulation/sim-time-sec'] < 2.0:
fdm.run()
self.assertAlmostEqual(fdm['accelerations/pdot-rad_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/qdot-rad_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/rdot-rad_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/udot-ft_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/vdot-ft_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/wdot-ft_sec2'], 0.0)
self.assertAlmostEqual(fdm['position/h-sl-ft'], h0, delta=1E-6)
self.assertAlmostEqual(fdm['attitude/pitch-rad'], pitch)
self.assertAlmostEqual(fdm['attitude/roll-rad'], roll)
self.assertAlmostEqual(fdm['attitude/heading-true-rad'], heading)
def test_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_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 testEnginePowerVC(self):
# Check that the same results are obtained whether the engine power
# velocity correction is given in a <table> or <function>
fdm = CreateFDM(self.sandbox)
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts',
'L4102.xml'))
fdm.run_ic()
while fdm.run():
pass
del fdm
ref = pd.read_csv('L410.csv', index_col=0)
tree = et.parse(self.sandbox.path_to_jsbsim_file('engine',
'engtm601.xml'))
# Modify the engine definition to use a <function> rather than a
# <table> component.
root = tree.getroot()
engPowVC_tag = root.find("table/[@name='EnginePowerVC']")
root.remove(engPowVC_tag)
del engPowVC_tag.attrib['name']
func_engPowVC = et.SubElement(root, 'function')
func_engPowVC.attrib['name'] = 'EnginePowerVC'
func_engPowVC.append(engPowVC_tag)
tree.write('engtm601.xml')
# Copy the propeller file.
shutil.copy(self.sandbox.path_to_jsbsim_file('engine', 'vrtule2.xml'),
'.')
self.sandbox.delete_csv_files()
fdm = CreateFDM(self.sandbox)
fdm.set_engine_path('.')
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts',
'L4102.xml'))
fdm.run_ic()
while fdm.run():
pass
current = pd.read_csv('L410.csv', index_col=0)
# Check the data are matching i.e. the time steps are the same between
# the two data sets and that the output data are also the same.
self.assertTrue(isDataMatching(ref, current))
# Find all the data that are differing by more than 1E-5 between the
# two data sets.
diff = FindDifferences(ref, current, 0.0)
self.longMessage = True
self.assertEqual(len(diff), 0, msg='\n'+diff.to_string())
def 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_static_hold_down(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'J246', 'LC39'), False)
fdm['forces/hold-down'] = 1.0
fdm.run_ic()
h0 = fdm['position/h-sl-ft']
t = 0.0
while t < 420.0:
fdm.run()
t = fdm['simulation/sim-time-sec']
self.assertAlmostEqual(fdm['position/h-sl-ft'], h0, delta=1E-5)
def test_static_hold_down(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'J246', 'LC39'), False)
fdm['forces/hold-down'] = 1.0
fdm.run_ic()
h0 = fdm['position/h-sl-ft']
t = 0.0
while t < 420.0:
fdm.run()
t = fdm['simulation/sim-time-sec']
self.assertAlmostEqual(fdm['position/h-sl-ft'], h0, delta=1E-5)
def testKinematicSetInitialValue(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('p51d')
fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', 'p51d',
'reset01'), False)
fdm.run_ic()
fdm['gear/gear-cmd-norm'] = 0.5
fdm['gear/gear-pos-norm'] = 0.5
while fdm['simulation/sim-time-sec'] < 1.0:
fdm.run()
self.assertAlmostEqual(fdm['gear/gear-cmd-norm'], 0.5)
self.assertAlmostEqual(fdm['gear/gear-pos-norm'], 0.5)
def test_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 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 testSteadyFlight(self):
script_name = 'c1722.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
# Switch the accel on
fdm.set_property_value('fcs/accelerometer/on', 1.0)
# Use the standard gravity (i.e. GM/r^2)
fdm.set_property_value('simulation/gravity-model', 0)
# Simplifies the transformation to compare the accelerometer with the
# gravity
fdm.set_property_value('ic/psi-true-rad', 0.0)
fdm.run_ic()
while fdm.get_property_value('simulation/sim-time-sec') <= 0.5:
fdm.run()
fdm.set_property_value('simulation/do_simple_trim', 1)
ax = fdm.get_property_value('accelerations/udot-ft_sec2')
ay = fdm.get_property_value('accelerations/vdot-ft_sec2')
az = fdm.get_property_value('accelerations/wdot-ft_sec2')
g = fdm.get_property_value('accelerations/gravity-ft_sec2')
theta = fdm.get_property_value('attitude/theta-rad')
# There is a lag of one time step between the computations of the
# accelerations and the update of the accelerometer
fdm.run()
fax = fdm.get_property_value('fcs/accelerometer/X')
fay = fdm.get_property_value('fcs/accelerometer/Y')
faz = fdm.get_property_value('fcs/accelerometer/Z')
fax -= ax
fay -= ay
faz -= az
# Deltas are relaxed because the tolerances of the trimming algorithm
# are quite relaxed themselves.
self.assertAlmostEqual(faz / (g * math.cos(theta)), -1.0, delta=1E-5)
self.assertAlmostEqual(fax / (g * math.sin(theta)), 1.0, delta=1E-5)
self.assertAlmostEqual(math.sqrt(fax * fax + fay * fay + faz * faz) /
g,
1.0,
delta=1E-6)
del fdm
def testOrbit(self):
script_name = 'ball_orbit.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
# The time step is too small in ball_orbit so let's increase it to 0.1s
# for a quicker run
tree = et.parse(script_path)
run_tag = tree.getroot().find('./run')
run_tag.attrib['dt'] = '0.1'
tree.write(script_name)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_name)
# Switch the accel on
fdm['fcs/accelerometer/on'] = 1.0
fdm.run_ic()
while fdm.run():
self.assertAlmostEqual(fdm['fcs/accelerometer/X'], 0.0, delta=1E-8)
self.assertAlmostEqual(fdm['fcs/accelerometer/Y'], 0.0, delta=1E-8)
self.assertAlmostEqual(fdm['fcs/accelerometer/Z'], 0.0, delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-x-ft_sec2'], 0.0,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-y-ft_sec2'], 0.0,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-z-ft_sec2'], 0.0,
delta=1E-8)
del fdm
def test_wind_frame(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts',
'ball_chute.xml')
fdm = CreateFDM(self.sandbox)
fdm.load_script(script_path)
fdm.run_ic()
self.assertAlmostEqual(fdm['external_reactions/parachute/location-x-in'],
12.0)
self.assertAlmostEqual(fdm['external_reactions/parachute/location-y-in'],
0.0)
self.assertAlmostEqual(fdm['external_reactions/parachute/location-z-in'],
0.0)
self.assertAlmostEqual(fdm['external_reactions/parachute/x'], -1.0)
self.assertAlmostEqual(fdm['external_reactions/parachute/y'], 0.0)
self.assertAlmostEqual(fdm['external_reactions/parachute/z'], 0.0)
while fdm.run():
Tw2b = fdm.get_auxiliary().get_Tw2b()
mag = fdm['aero/qbar-psf'] * fdm['fcs/parachute_reef_pos_norm']*20.0
f = Tw2b * np.mat([-1.0, 0.0, 0.0]).T * mag
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0, 0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1, 0])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2, 0])
m = np.cross(self.getLeverArm(fdm,'parachute'),
np.array([f[0,0], f[1,0], f[2, 0]]))
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
def testFunctionWithIndexedProps(self):
tree = et.parse(self.sandbox.path_to_jsbsim_file('engine',
'eng_PegasusXc.xml'))
# Define the function starter-max-power-W as a 'post' function
root = tree.getroot()
startPowFunc_tag = root.find("function/[@name='propulsion/engine[#]/starter-max-power-W']")
startPowFunc_tag.attrib['type']='post'
tree.write('eng_PegasusXc.xml')
# Copy the propeller file.
shutil.copy(self.sandbox.path_to_jsbsim_file('engine', 'prop_deHavilland5000.xml'),
'.')
fdm = CreateFDM(self.sandbox)
fdm.set_engine_path('.')
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts',
'Short_S23_1.xml'))
fdm.run_ic()
pm = fdm.get_property_manager()
self.assertTrue(pm.hasNode('propulsion/engine[0]/starter-max-power-W'))
self.assertTrue(pm.hasNode('propulsion/engine[1]/starter-max-power-W'))
self.assertTrue(pm.hasNode('propulsion/engine[2]/starter-max-power-W'))
self.assertTrue(pm.hasNode('propulsion/engine[3]/starter-max-power-W'))
while fdm.run():
rpm = [fdm['propulsion/engine[0]/engine-rpm'],
fdm['propulsion/engine[1]/engine-rpm'],
fdm['propulsion/engine[2]/engine-rpm'],
fdm['propulsion/engine[3]/engine-rpm']]
for i in range(4):
maxPower = max(0.0, 1.0-rpm[i]/400)*498.941*0.10471976*rpm[i]
self.assertAlmostEqual(fdm['propulsion/engine[%d]/starter-max-power-W' % (i,)],
maxPower)
def testOrbit(self):
script_name = 'ball_orbit.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
# The time step is too small in ball_orbit so let's increase it to 0.1s
# for a quicker run
tree = et.parse(script_path)
run_tag = tree.getroot().find('./run')
run_tag.attrib['dt'] = '0.1'
tree.write(script_name)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_name)
# Switch the accel on
fdm['fcs/accelerometer/on'] = 1.0
fdm.run_ic()
while fdm.run():
self.assertAlmostEqual(fdm['fcs/accelerometer/X'], 0.0, delta=1E-8)
self.assertAlmostEqual(fdm['fcs/accelerometer/Y'], 0.0, delta=1E-8)
self.assertAlmostEqual(fdm['fcs/accelerometer/Z'], 0.0, delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-x-ft_sec2'],
0.0,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-y-ft_sec2'],
0.0,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-z-ft_sec2'],
0.0,
delta=1E-8)
del fdm
def test_wind_frame(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts',
'ball_chute.xml')
fdm = CreateFDM(self.sandbox)
fdm.load_script(script_path)
fdm.run_ic()
self.assertAlmostEqual(
fdm['external_reactions/parachute/location-x-in'], 12.0)
self.assertAlmostEqual(
fdm['external_reactions/parachute/location-y-in'], 0.0)
self.assertAlmostEqual(
fdm['external_reactions/parachute/location-z-in'], 0.0)
self.assertAlmostEqual(fdm['external_reactions/parachute/x'], -1.0)
self.assertAlmostEqual(fdm['external_reactions/parachute/y'], 0.0)
self.assertAlmostEqual(fdm['external_reactions/parachute/z'], 0.0)
while fdm.run():
Tw2b = fdm.get_auxiliary().get_Tw2b()
mag = fdm['aero/qbar-psf'] * fdm[
'fcs/parachute_reef_pos_norm'] * 20.0
f = Tw2b * np.mat([-1.0, 0.0, 0.0]).T * mag
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0, 0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1, 0])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2, 0])
m = np.cross(self.getLeverArm(fdm, 'parachute'),
np.array([f[0, 0], f[1, 0], f[2, 0]]))
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
def SubProcessScriptExecution(sandbox, script_path):
fdm = CreateFDM(sandbox)
fdm.load_script(script_path)
fdm.run_ic()
while fdm.run():
pass
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 test_moments_update(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'weather-balloon.xml')
fdm = CreateFDM(self.sandbox)
fdm.load_script(script_path)
fdm.run_ic()
# Moves the radio sonde to modify the CG location
fdm.set_property_value('inertia/pointmass-location-X-inches', 5.0)
# Check that the moment is immediately updated accordingly
fdm.run()
Fbz = fdm.get_property_value('forces/fbz-buoyancy-lbs')
CGx = fdm.get_property_value('inertia/cg-x-in') / 12.0 # Converts from in to ft
Mby = fdm.get_property_value('moments/m-buoyancy-lbsft')
self.assertTrue(abs(Fbz * CGx + Mby) < 1E-7,
msg="Fbz*CGx = %f and Mby = %f do not match" % (-Fbz*CGx, Mby))
def testMagnitude(self):
fdm = CreateFDM(self.sandbox)
fdm.load_script(
self.sandbox.path_to_jsbsim_file('scripts', 'c172_cruise_8K.xml'))
fdm.run_ic()
t = 0.0
startup_duration = 5.0
steady_duration = 1.0
end_duration = 5.0
start_time = 10.0
magnitude = 30.0
end_time = start_time + startup_duration + steady_duration + end_duration
while fdm['simulation/run_id'] == 0:
fdm.run()
wn = fdm['atmosphere/total-wind-north-fps']
we = fdm['atmosphere/total-wind-east-fps']
wd = fdm['atmosphere/total-wind-down-fps']
if t >= start_time and t <= end_time:
wmag = math.sqrt(wn * wn + we * we + wd * wd)
t -= start_time
if t <= startup_duration:
self.assertAlmostEqual(
0.5 * magnitude *
(1.0 - math.cos(math.pi * t / startup_duration)),
wmag,
delta=1E-3)
else:
t -= startup_duration
if t <= steady_duration:
self.assertAlmostEqual(magnitude, wmag, delta=1E-8)
else:
t -= steady_duration
if t <= end_duration:
self.assertAlmostEqual(
0.5 * magnitude *
(1.0 + math.cos(math.pi * t / end_duration)),
wmag,
delta=1E-3)
t = fdm['simulation/sim-time-sec']
def testSteadyFlight(self):
script_name = 'c1722.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
# Switch the accel on
fdm.set_property_value('fcs/accelerometer/on', 1.0)
# Use the standard gravity (i.e. GM/r^2)
fdm.set_property_value('simulation/gravity-model', 0)
# Simplifies the transformation to compare the accelerometer with the
# gravity
fdm.set_property_value('ic/psi-true-rad', 0.0)
fdm.run_ic()
while fdm.get_property_value('simulation/sim-time-sec') <= 0.5:
fdm.run()
fdm.set_property_value('simulation/do_simple_trim', 1)
ax = fdm.get_property_value('accelerations/udot-ft_sec2')
ay = fdm.get_property_value('accelerations/vdot-ft_sec2')
az = fdm.get_property_value('accelerations/wdot-ft_sec2')
g = fdm.get_property_value('accelerations/gravity-ft_sec2')
theta = fdm.get_property_value('attitude/theta-rad')
# There is a lag of one time step between the computations of the
# accelerations and the update of the accelerometer
fdm.run()
fax = fdm.get_property_value('fcs/accelerometer/X')
fay = fdm.get_property_value('fcs/accelerometer/Y')
faz = fdm.get_property_value('fcs/accelerometer/Z')
fax -= ax
fay -= ay
faz -= az
# Deltas are relaxed because the tolerances of the trimming algorithm
# are quite relaxed themselves.
self.assertAlmostEqual(faz / (g * math.cos(theta)), -1.0, delta=1E-5)
self.assertAlmostEqual(fax / (g * math.sin(theta)), 1.0, delta=1E-5)
self.assertAlmostEqual(math.sqrt(fax*fax+fay*fay+faz*faz)/g, 1.0, delta=1E-6)
del fdm
def 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 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 testOnGround(self):
script_name = 'c1721.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
# Switch the accel on
fdm.set_property_value('fcs/accelerometer/on', 1.0)
# Use the standard gravity (i.e. GM/r^2)
fdm.set_property_value('simulation/gravity-model', 0)
# Simplifies the transformation to compare the accelerometer with the
# gravity
fdm.set_property_value('ic/psi-true-rad', 0.0)
fdm.run_ic()
for i in xrange(500):
fdm.run()
ax = fdm.get_property_value('accelerations/udot-ft_sec2')
ay = fdm.get_property_value('accelerations/vdot-ft_sec2')
az = fdm.get_property_value('accelerations/wdot-ft_sec2')
g = fdm.get_property_value('accelerations/gravity-ft_sec2')
theta = fdm.get_property_value('attitude/theta-rad')
# There is a lag of one time step between the computations of the
# accelerations and the update of the accelerometer
fdm.run()
fax = fdm.get_property_value('fcs/accelerometer/X')
fay = fdm.get_property_value('fcs/accelerometer/Y')
faz = fdm.get_property_value('fcs/accelerometer/Z')
fax -= ax
faz -= az
self.assertAlmostEqual(fay, 0.0, delta=1E-6)
self.assertAlmostEqual(fax / (g * math.sin(theta)), 1.0, delta=1E-5)
self.assertAlmostEqual(faz / (g * math.cos(theta)), -1.0, delta=1E-7)
del fdm
def testOnGround(self):
script_name = 'c1721.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
# Switch the accel on
fdm.set_property_value('fcs/accelerometer/on', 1.0)
# Use the standard gravity (i.e. GM/r^2)
fdm.set_property_value('simulation/gravity-model', 0)
# Simplifies the transformation to compare the accelerometer with the
# gravity
fdm.set_property_value('ic/psi-true-rad', 0.0)
fdm.run_ic()
for i in xrange(500):
fdm.run()
ax = fdm.get_property_value('accelerations/udot-ft_sec2')
ay = fdm.get_property_value('accelerations/vdot-ft_sec2')
az = fdm.get_property_value('accelerations/wdot-ft_sec2')
g = fdm.get_property_value('accelerations/gravity-ft_sec2')
theta = fdm.get_property_value('attitude/theta-rad')
# There is a lag of one time step between the computations of the
# accelerations and the update of the accelerometer
fdm.run()
fax = fdm.get_property_value('fcs/accelerometer/X')
fay = fdm.get_property_value('fcs/accelerometer/Y')
faz = fdm.get_property_value('fcs/accelerometer/Z')
fax -= ax
faz -= az
self.assertAlmostEqual(fay, 0.0, delta=1E-6)
self.assertAlmostEqual(fax / (g * math.sin(theta)), 1.0, delta=1E-5)
self.assertAlmostEqual(faz / (g * math.cos(theta)), -1.0, delta=1E-7)
del fdm
def test_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 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 testEnginePowerVC(self):
fdm = CreateFDM(self.sandbox)
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts',
'L4102.xml'))
fdm.run_ic()
pm = fdm.get_property_manager()
self.assertTrue(pm.hasNode('propulsion/engine[0]/EnginePowerVC'))
self.assertTrue(pm.hasNode('propulsion/engine[1]/EnginePowerVC'))
while fdm.run():
self.assertAlmostEqual(fdm['propulsion/engine[0]/EnginePowerVC'],
fdm['propulsion/engine[1]/EnginePowerVC'])
def testEnginePowerVC(self):
fdm = CreateFDM(self.sandbox)
fdm.load_script(
self.sandbox.path_to_jsbsim_file('scripts', 'L4102.xml'))
fdm.run_ic()
pm = fdm.get_property_manager()
self.assertTrue(pm.hasNode('propulsion/engine[0]/EnginePowerVC'))
self.assertTrue(pm.hasNode('propulsion/engine[1]/EnginePowerVC'))
while fdm.run():
self.assertAlmostEqual(fdm['propulsion/engine[0]/EnginePowerVC'],
fdm['propulsion/engine[1]/EnginePowerVC'])
def testKinematicAndTrim(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('p51d')
fdm.load_ic('reset01', True)
self.assertEqual(fdm['gear/gear-cmd-norm'], 1.0)
# Set the landing gears up. Since the command is equal to 1.0, the
# <kinematic> system will trigger the gear down sequence.
fdm['gear/gear-pos-norm'] = 0.0
fdm.run_ic()
# The test succeeds if the trim does not raise an exception i.e. if the
# <kinematic> system does not interfer with the trim on ground
# algorithm.
fdm['simulation/do_simple_trim'] = 2 # Ground trim
# Check that the gear is down after the trim as requested by
# gear/gear-cmd-norm
self.assertAlmostEqual(fdm['gear/gear-pos-norm'], 1.0)
# Check that the gear is not moving to another position after trim.
fdm.run()
self.assertAlmostEqual(fdm['gear/gear-pos-norm'], 1.0)
def testMagnitude(self):
fdm = CreateFDM(self.sandbox)
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts',
'c172_cruise_8K.xml'))
fdm.run_ic()
t = 0.0
startup_duration = 5.0
steady_duration = 1.0
end_duration = 5.0
start_time = 10.0
magnitude = 30.0
end_time = start_time + startup_duration + steady_duration + end_duration
while fdm.get_property_value('simulation/run_id') == 0:
fdm.run()
wn = fdm.get_property_value('atmosphere/total-wind-north-fps')
we = fdm.get_property_value('atmosphere/total-wind-east-fps')
wd = fdm.get_property_value('atmosphere/total-wind-down-fps')
if t >= start_time and t <= end_time:
wmag = math.sqrt(wn*wn + we*we + wd*wd)
t -= start_time
if t <= startup_duration:
self.assertAlmostEqual(0.5 * magnitude * (1.0 - math.cos(math.pi*t/startup_duration)),
wmag, delta=1E-3)
else:
t -= startup_duration
if t <= steady_duration:
self.assertAlmostEqual(magnitude, wmag, delta=1E-8)
else:
t -= steady_duration
if t <= end_duration:
self.assertAlmostEqual(0.5 * magnitude * (1.0 + math.cos(math.pi*t/end_duration)),
wmag, delta=1E-3)
t = fdm.get_property_value('simulation/sim-time-sec')
def testTableWithIndexedVars(self):
tree = et.parse(
self.sandbox.path_to_jsbsim_file('engine', 'eng_PegasusXc.xml'))
# Define the function starter-max-power-W as a 'post' function
root = tree.getroot()
startPowFunc_tag = root.find(
"function/[@name='propulsion/engine[#]/starter-max-power-W']")
startPowFunc_tag.attrib['type'] = 'post'
max_tag = startPowFunc_tag.find('product/max')
diff_tag = max_tag.find('difference')
max_tag.remove(diff_tag)
table_tag = et.SubElement(max_tag, 'table')
table_tag.attrib['name'] = 'propulsion/engine[#]/starter-tabular-data'
indepVar_tag = et.SubElement(table_tag, 'independentVar')
indepVar_tag.attrib['lookup'] = 'row'
indepVar_tag.text = 'propulsion/engine[#]/engine-rpm'
tData_tag = et.SubElement(table_tag, 'tableData')
tData_tag.text = '0.0 1.0\n400.0 0.0'
tree.write('eng_PegasusXc.xml')
# Copy the propeller file.
shutil.copy(
self.sandbox.path_to_jsbsim_file('engine',
'prop_deHavilland5000.xml'), '.')
fdm = CreateFDM(self.sandbox)
fdm.set_engine_path('.')
fdm.load_script(
self.sandbox.path_to_jsbsim_file('scripts', 'Short_S23_1.xml'))
fdm.run_ic()
pm = fdm.get_property_manager()
self.assertTrue(pm.hasNode('propulsion/engine[0]/starter-max-power-W'))
self.assertTrue(pm.hasNode('propulsion/engine[1]/starter-max-power-W'))
self.assertTrue(pm.hasNode('propulsion/engine[2]/starter-max-power-W'))
self.assertTrue(pm.hasNode('propulsion/engine[3]/starter-max-power-W'))
while fdm.run():
rpm = [
fdm['propulsion/engine[0]/engine-rpm'],
fdm['propulsion/engine[1]/engine-rpm'],
fdm['propulsion/engine[2]/engine-rpm'],
fdm['propulsion/engine[3]/engine-rpm']
]
for i in xrange(4):
tabularData = max(0.0, 1.0 - rpm[i] / 400)
maxPower = tabularData * 498.941 * 0.10471976 * rpm[i]
self.assertAlmostEqual(
fdm['propulsion/engine[%d]/starter-max-power-W' % (i, )],
maxPower)
self.assertAlmostEqual(
fdm['propulsion/engine[%d]/starter-tabular-data' % (i, )],
tabularData)
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 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 testOnGround(self):
script_name = 'c1721.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
# Switch the accel on
fdm['fcs/accelerometer/on'] = 1.0
# Use the standard gravity (i.e. GM/r^2)
fdm['simulation/gravity-model'] = 0
# Simplifies the transformation to compare the accelerometer with the
# gravity
fdm['ic/psi-true-rad'] = 0.0
fdm.run_ic()
for i in xrange(1000):
fdm.run()
r = fdm['position/radius-to-vehicle-ft']
g = fdm['accelerations/gravity-ft_sec2']
latitude = fdm['position/lat-gc-rad']
pitch = fdm['attitude/theta-rad']
omega = 0.00007292115 # Earth rotation rate in rad/sec
fc = r * math.cos(latitude) * omega * omega
fax = fc * math.sin(latitude - pitch) + g * math.sin(pitch)
faz = fc * math.cos(latitude - pitch) - g * math.cos(pitch)
self.assertAlmostEqual(fdm['fcs/accelerometer/X'], fax, delta=1E-7)
self.assertAlmostEqual(fdm['fcs/accelerometer/Y'], 0.0, delta=1E-7)
self.assertAlmostEqual(fdm['fcs/accelerometer/Z'], faz, delta=1E-6)
del fdm
def testOnGround(self):
script_name = 'c1721.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
# Switch the accel on
fdm['fcs/accelerometer/on'] = 1.0
# Use the standard gravity (i.e. GM/r^2)
fdm['simulation/gravity-model'] = 0
# Simplifies the transformation to compare the accelerometer with the
# gravity
fdm['ic/psi-true-rad'] = 0.0
fdm.run_ic()
for i in xrange(1000):
fdm.run()
r = fdm['position/radius-to-vehicle-ft']
g = fdm['accelerations/gravity-ft_sec2']
latitude = fdm['position/lat-gc-rad']
pitch = fdm['attitude/theta-rad']
omega = 0.00007292115 # Earth rotation rate in rad/sec
fc = r * math.cos(latitude) * omega * omega
fax = fc * math.sin(latitude - pitch) + g * math.sin(pitch)
faz = fc * math.cos(latitude - pitch) - g * math.cos(pitch)
self.assertAlmostEqual(fdm['fcs/accelerometer/X'], fax, delta=1E-7)
self.assertAlmostEqual(fdm['fcs/accelerometer/Y'], 0.0, delta=1E-7)
self.assertAlmostEqual(fdm['fcs/accelerometer/Z'], faz, delta=1E-6)
del fdm
def testOrbitCheckCase(self):
os.environ['JSBSIM_DEBUG'] = str(0)
fdm = CreateFDM(self.sandbox)
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts', 'ball_orbit.xml'))
fdm.run_ic()
while fdm.run():
pass
ref, current = Table(), Table()
ref.ReadCSV(self.sandbox.elude(self.sandbox.path_to_jsbsim_file('logged_data', 'BallOut.csv')))
current.ReadCSV(self.sandbox('BallOut.csv'))
diff = ref.compare(current)
self.longMessage = True
self.assertTrue(diff.empty(), msg='\n'+repr(diff))
def testChannelRate(self):
os.environ['JSBSIM_DEBUG'] = str(0)
fdm = CreateFDM(self.sandbox)
fdm.load_script(
self.sandbox.path_to_jsbsim_file('scripts',
'systems-rate-test-0.xml'))
fdm.run_ic()
while fdm['simulation/sim-time-sec'] < 30:
fdm.run()
self.assertEqual(fdm['simulation/frame'], fdm['tests/rate-1'])
self.assertEqual(int(fdm['simulation/frame'] / 4),
fdm['tests/rate-4'])
self.assertEqual(fdm['simulation/sim-time-sec'],
fdm['tests/rate-1-dt-sum'])
self.assertAlmostEqual(
fdm['simulation/dt'] * fdm['tests/rate-4'] * 4,
fdm['tests/rate-4-dt-sum'])
self.assertEqual(fdm['simulation/dt'], fdm['tests/rate-1-dt'])
self.assertEqual(fdm['simulation/dt'] * 4, fdm['tests/rate-4-dt'])
try:
fdm['simulation/do_simple_trim'] = 1
except RuntimeError as e:
# The trim cannot succeed. Just make sure that the raised exception
# is due to the trim failure otherwise rethrow.
if e.args[0] != 'Trim Failed':
raise
while fdm['simulation/sim-time-sec'] < 40:
self.assertEqual(fdm['simulation/frame'], fdm['tests/rate-1'])
self.assertEqual(int(fdm['simulation/frame'] / 4),
fdm['tests/rate-4'])
self.assertEqual(fdm['simulation/sim-time-sec'],
fdm['tests/rate-1-dt-sum'])
self.assertAlmostEqual(
fdm['simulation/dt'] * fdm['tests/rate-4'] * 4,
fdm['tests/rate-4-dt-sum'])
fdm.run()
fdm.reset_to_initial_conditions(1)
tf = fdm['tests/rate-1-dt-sum']
xtraFrames = fdm['simulation/frame'] % 4
while fdm['simulation/sim-time-sec'] < 30:
fdm.run()
self.assertEqual(fdm['simulation/frame'], fdm['tests/rate-1'])
self.assertEqual(int((fdm['simulation/frame'] - xtraFrames) / 4),
fdm['tests/rate-4'])
self.assertAlmostEqual(fdm['simulation/sim-time-sec'],
fdm['tests/rate-1-dt-sum'] - tf)
self.assertAlmostEqual(
fdm['simulation/dt'] * fdm['tests/rate-4'] * 4,
fdm['tests/rate-4-dt-sum'])
def 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 testDragFunctions(self):
fdm = CreateFDM(self.sandbox)
self.script_path = self.sandbox.path_to_jsbsim_file('scripts',
'x153.xml')
fdm.load_script(self.script_path)
fdm.set_output_directive(self.sandbox.path_to_jsbsim_file('tests',
'output.xml'))
fdm.run_ic()
while fdm.run():
pass
results = pd.read_csv('output.csv', index_col=0)
Fdrag = results['F_{Drag} (lbs)']
CDmin = results['aero/coefficient/CDmin']
CDi = results['aero/coefficient/CDi']
self.assertAlmostEqual(abs(Fdrag/(CDmin+CDi)).max(), 1.0, delta=1E-5)
def testTableWithIndexedVars(self):
tree = et.parse(self.sandbox.path_to_jsbsim_file('engine',
'eng_PegasusXc.xml'))
# Define the function starter-max-power-W as a 'post' function
root = tree.getroot()
startPowFunc_tag = root.find("function/[@name='propulsion/engine[#]/starter-max-power-W']")
startPowFunc_tag.attrib['type']='post'
max_tag = startPowFunc_tag.find('product/max')
diff_tag = max_tag.find('difference')
max_tag.remove(diff_tag)
table_tag = et.SubElement(max_tag,'table')
table_tag.attrib['name']='propulsion/engine[#]/starter-tabular-data'
indepVar_tag = et.SubElement(table_tag, 'independentVar')
indepVar_tag.attrib['lookup']='row'
indepVar_tag.text = 'propulsion/engine[#]/engine-rpm'
tData_tag = et.SubElement(table_tag, 'tableData')
tData_tag.text ='0.0 1.0\n400.0 0.0'
tree.write('eng_PegasusXc.xml')
# Copy the propeller file.
shutil.copy(self.sandbox.path_to_jsbsim_file('engine', 'prop_deHavilland5000.xml'),
'.')
fdm = CreateFDM(self.sandbox)
fdm.set_engine_path('.')
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts',
'Short_S23_1.xml'))
fdm.run_ic()
pm = fdm.get_property_manager()
self.assertTrue(pm.hasNode('propulsion/engine[0]/starter-max-power-W'))
self.assertTrue(pm.hasNode('propulsion/engine[1]/starter-max-power-W'))
self.assertTrue(pm.hasNode('propulsion/engine[2]/starter-max-power-W'))
self.assertTrue(pm.hasNode('propulsion/engine[3]/starter-max-power-W'))
while fdm.run():
rpm = [fdm['propulsion/engine[0]/engine-rpm'],
fdm['propulsion/engine[1]/engine-rpm'],
fdm['propulsion/engine[2]/engine-rpm'],
fdm['propulsion/engine[3]/engine-rpm']]
for i in range(4):
tabularData = max(0.0, 1.0-rpm[i]/400)
maxPower = tabularData*498.941*0.10471976*rpm[i]
self.assertAlmostEqual(fdm['propulsion/engine[%d]/starter-max-power-W' % (i,)],
maxPower)
self.assertAlmostEqual(fdm['propulsion/engine[%d]/starter-tabular-data' % (i,)],
tabularData)
def testChannelRate(self):
os.environ['JSBSIM_DEBUG'] = str(0)
fdm = CreateFDM(self.sandbox)
fdm.load_script(
self.sandbox.path_to_jsbsim_file('scripts',
'systems-rate-test-0.xml'))
fdm.run_ic()
while fdm['simulation/sim-time-sec'] < 30:
fdm.run()
self.assertEqual(fdm['simulation/frame'], fdm['tests/rate-1'])
self.assertEqual(int(fdm['simulation/frame'] / 4),
fdm['tests/rate-4'])
self.assertEqual(fdm['simulation/sim-time-sec'],
fdm['tests/rate-1-dt-sum'])
self.assertAlmostEqual(
fdm['simulation/dt'] * fdm['tests/rate-4'] * 4,
fdm['tests/rate-4-dt-sum'])
self.assertEqual(fdm['simulation/dt'], fdm['tests/rate-1-dt'])
self.assertEqual(fdm['simulation/dt'] * 4, fdm['tests/rate-4-dt'])
# Trigger the trimming and check that it fails (i.e. it raises an
# exception TrimFailureError)
with self.assertRaises(TrimFailureError):
fdm['simulation/do_simple_trim'] = 1
while fdm['simulation/sim-time-sec'] < 40:
self.assertEqual(fdm['simulation/frame'], fdm['tests/rate-1'])
self.assertEqual(int(fdm['simulation/frame'] / 4),
fdm['tests/rate-4'])
self.assertEqual(fdm['simulation/sim-time-sec'],
fdm['tests/rate-1-dt-sum'])
self.assertAlmostEqual(
fdm['simulation/dt'] * fdm['tests/rate-4'] * 4,
fdm['tests/rate-4-dt-sum'])
fdm.run()
fdm.reset_to_initial_conditions(1)
tf = fdm['tests/rate-1-dt-sum']
xtraFrames = fdm['simulation/frame'] % 4
while fdm['simulation/sim-time-sec'] < 30:
fdm.run()
self.assertEqual(fdm['simulation/frame'], fdm['tests/rate-1'])
self.assertEqual(int((fdm['simulation/frame'] - xtraFrames) / 4),
fdm['tests/rate-4'])
self.assertAlmostEqual(fdm['simulation/sim-time-sec'],
fdm['tests/rate-1-dt-sum'] - tf)
self.assertAlmostEqual(
fdm['simulation/dt'] * fdm['tests/rate-4'] * 4,
fdm['tests/rate-4-dt-sum'])
def testChannelRate(self):
os.environ['JSBSIM_DEBUG'] = str(0)
fdm = CreateFDM(self.sandbox)
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts',
'systems-rate-test-0.xml'))
fdm.run_ic()
while fdm['simulation/sim-time-sec'] < 30:
fdm.run()
self.assertEqual(fdm['simulation/frame'], fdm['tests/rate-1'])
self.assertEqual(int(fdm['simulation/frame']/4),
fdm['tests/rate-4'])
self.assertEqual(fdm['simulation/sim-time-sec'],
fdm['tests/rate-1-dt-sum'])
self.assertAlmostEqual(fdm['simulation/dt']*fdm['tests/rate-4']*4,
fdm['tests/rate-4-dt-sum'])
self.assertEqual(fdm['simulation/dt'], fdm['tests/rate-1-dt'])
self.assertEqual(fdm['simulation/dt']*4, fdm['tests/rate-4-dt'])
try:
fdm['simulation/do_simple_trim'] = 1
except RuntimeError as e:
# The trim cannot succeed. Just make sure that the raised exception
# is due to the trim failure otherwise rethrow.
if e.args[0] != 'Trim Failed':
raise
while fdm['simulation/sim-time-sec'] < 40:
self.assertEqual(fdm['simulation/frame'], fdm['tests/rate-1'])
self.assertEqual(int(fdm['simulation/frame']/4),
fdm['tests/rate-4'])
self.assertEqual(fdm['simulation/sim-time-sec'],
fdm['tests/rate-1-dt-sum'])
self.assertAlmostEqual(fdm['simulation/dt']*fdm['tests/rate-4']*4,
fdm['tests/rate-4-dt-sum'])
fdm.run()
fdm.reset_to_initial_conditions(1)
tf = fdm['tests/rate-1-dt-sum']
xtraFrames = fdm['simulation/frame'] % 4
while fdm['simulation/sim-time-sec'] < 30:
fdm.run()
self.assertEqual(fdm['simulation/frame'], fdm['tests/rate-1'])
self.assertEqual(int((fdm['simulation/frame']-xtraFrames)/4),
fdm['tests/rate-4'])
self.assertAlmostEqual(fdm['simulation/sim-time-sec'],
fdm['tests/rate-1-dt-sum']-tf)
self.assertAlmostEqual(fdm['simulation/dt']*fdm['tests/rate-4']*4,
fdm['tests/rate-4-dt-sum'])
def testOrbitCheckCase(self):
os.environ['JSBSIM_DEBUG'] = str(0)
fdm = CreateFDM(self.sandbox)
fdm.load_script(
self.sandbox.path_to_jsbsim_file('scripts', 'ball_orbit.xml'))
fdm.run_ic()
while fdm.run():
pass
ref, current = Table(), Table()
ref.ReadCSV(
self.sandbox.elude(
self.sandbox.path_to_jsbsim_file('logged_data',
'BallOut.csv')))
current.ReadCSV(self.sandbox('BallOut.csv'))
diff = ref.compare(current)
self.longMessage = True
self.assertTrue(diff.empty(), msg='\n' + repr(diff))
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 testOrbitCheckCase(self):
os.environ['JSBSIM_DEBUG'] = str(0)
fdm = CreateFDM(self.sandbox)
fdm.load_script(
self.sandbox.path_to_jsbsim_file('scripts', 'ball_orbit.xml'))
fdm.run_ic()
while fdm.run():
pass
ref = pd.read_csv(self.sandbox.path_to_jsbsim_file(
'logged_data', 'BallOut.csv'),
index_col=0)
current = pd.read_csv('BallOut.csv', index_col=0)
# Check the data are matching i.e. the time steps are the same between
# the two data sets and that the output data are also the same.
self.assertTrue(isDataMatching(ref, current))
# Find all the data that are differing by more than 1E-5 between the
# two data sets.
diff = FindDifferences(ref, current, 1E-5)
self.longMessage = True
self.assertEqual(len(diff), 0, msg='\n' + diff.to_string())
def testOrbitCheckCase(self):
os.environ['JSBSIM_DEBUG'] = str(0)
fdm = CreateFDM(self.sandbox)
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts',
'ball_orbit.xml'))
fdm.run_ic()
while fdm.run():
pass
ref = pd.read_csv(self.sandbox.path_to_jsbsim_file('logged_data',
'BallOut.csv'),
index_col=0)
current = pd.read_csv('BallOut.csv', index_col=0)
# Check the data are matching i.e. the time steps are the same between
# the two data sets and that the output data are also the same.
self.assertTrue(isDataMatching(ref, current))
# Find all the data that are differing by more than 1E-5 between the
# two data sets.
diff = FindDifferences(ref, current, 1E-5)
self.longMessage = True
self.assertEqual(len(diff), 0, msg='\n'+diff.to_string())
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')
class CheckOutputRate(JSBSimTestCase):
def setUp(self):
JSBSimTestCase.setUp(self)
self.fdm = CreateFDM(self.sandbox)
self.script_path = self.sandbox.path_to_jsbsim_file('scripts',
'c1722.xml')
# Read the time step 'dt' from the script file
self.tree = et.parse(self.script_path)
root = self.tree.getroot()
use_tag = root.find('use')
aircraft_name = use_tag.attrib['aircraft']
self.run_tag = root.find('run')
self.dt = float(self.run_tag.attrib['dt'])
# Read the date at which the trim will be run
for event in root.findall('run/event'):
if event.attrib['name'] == 'Trim':
cond_tag = event.find('condition')
self.trim_date = float(cond_tag.text.split()[-1])
break
# Read the output rate and the output file from the aircraft file
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft', aircraft_name,
append_xml(aircraft_name))
tree = et.parse(aircraft_path)
output_tag = tree.getroot().find('output')
self.output_file = output_tag.attrib['name']
self.rateHz = float(output_tag.attrib['rate'])
self.rate = int(1.0 / (self.rateHz * self.dt))
def tearDown(self):
del self.fdm
JSBSimTestCase.tearDown(self)
def testOutputRate(self):
self.fdm.load_script(self.script_path)
# Check that the output is enabled by default
self.assertEqual(self.fdm["simulation/output/enabled"], 1.0)
# Check that the rate is consistent with the values extracted from the
# script and the aircraft definition
self.assertAlmostEqual(self.fdm["simulation/output/log_rate_hz"],
self.rateHz, delta=1E-5)
self.fdm.run_ic()
for i in range(self.rate):
self.fdm.run()
output = pd.read_csv(self.output_file)
# According to the settings, the output file must contain 2 lines in
# addition to the headers :
# 1. The initial conditions
# 2. The output after 'rate' iterations
self.assertEqual(output['Time'].iloc[0], 0.0)
self.assertEqual(output['Time'].iloc[1], self.rate * self.dt)
self.assertEqual(output['Time'].iloc[1],
self.fdm["simulation/sim-time-sec"])
def testDisablingOutput(self):
self.fdm.load_script(self.script_path)
# Disables the output during the initialization
self.fdm["simulation/output/enabled"] = 0.0
self.fdm.run_ic()
self.fdm["simulation/output/enabled"] = 1.0
for i in range(self.rate):
self.fdm.run()
output = pd.read_csv(self.output_file)
# According to the settings, the output file must contain 1 line in
# addition to the headers :
# 1. The output after 'rate' iterations
self.assertEqual(output['Time'].iloc[0],
self.fdm["simulation/sim-time-sec"])
def testTrimRestoresOutputSettings(self):
self.fdm.load_script(self.script_path)
# Disables the output during the initialization
self.fdm["simulation/output/enabled"] = 0.0
self.fdm.run_ic()
# Check that the output remains disabled even after the trim is
# executed
while self.fdm["simulation/sim-time-sec"] < self.trim_date + 2.0*self.dt:
self.fdm.run()
self.assertEqual(self.fdm["simulation/output/enabled"], 0.0)
# Re-enable the output and check that the output rate is unaffected by
# the previous operations
self.fdm["simulation/output/enabled"] = 1.0
frame = int(self.fdm["simulation/frame"])
for i in range(self.rate):
self.fdm.run()
output = pd.read_csv(self.output_file)
# The frame at which the data is logged must be the next multiple of
# the output rate
self.assertEqual(int(output['Time'].iloc[0] / self.dt),
(1 + frame // self.rate)*self.rate)
def testDisablingOutputInScript(self):
property = et.SubElement(self.run_tag, 'property')
property.text = 'simulation/output/enabled'
property.attrib['value'] = "0.0"
self.tree.write('c1722_0.xml')
self.fdm.load_script('c1722_0.xml')
# Check that the output is disabled
self.assertEqual(self.fdm["simulation/output/enabled"], 0.0)
self.fdm.run_ic()
self.fdm["simulation/output/enabled"] = 1.0
for i in range(self.rate):
self.fdm.run()
output = pd.read_csv(self.output_file)
# According to the settings, the output file must contain 1 line in
# addition to the headers :
# 1. The output after 'rate' iterations
self.assertEqual(output['Time'].iloc[0],
self.fdm["simulation/sim-time-sec"])
class CheckMomentsUpdate(unittest.TestCase):
def setUp(self):
self.sandbox = SandBox()
def tearDown(self):
self.sandbox.erase()
def CheckCGPosition(self):
weight = self.fdm.get_property_value('inertia/weight-lbs')
empty_weight = self.fdm.get_property_value('inertia/empty-weight-lbs')
contents = self.fdm.get_property_value('buoyant_forces/gas-cell/contents-mol')
radiosonde_weight = weight - empty_weight - contents * mol2lbs
CGx = self.fdm.get_property_value('inertia/cg-x-in')
CGy = self.fdm.get_property_value('inertia/cg-y-in')
CGz = self.fdm.get_property_value('inertia/cg-z-in')
X = self.fdm.get_property_value('inertia/pointmass-location-X-inches')
Y = self.fdm.get_property_value('inertia/pointmass-location-Y-inches')
Z = self.fdm.get_property_value('inertia/pointmass-location-Z-inches')
self.assertAlmostEqual(CGx, X * radiosonde_weight / weight, delta = 1E-7)
self.assertAlmostEqual(CGy, Y * radiosonde_weight / weight, delta = 1E-7)
self.assertAlmostEqual(CGz, Z * radiosonde_weight / weight, delta = 1E-7)
def test_moments_update(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'weather-balloon.xml')
self.fdm = CreateFDM(self.sandbox)
self.fdm.load_script(script_path)
self.fdm.set_output_directive(self.sandbox.path_to_jsbsim_file('tests', 'output.xml'))
self.fdm.run_ic()
self.CheckCGPosition()
dt = self.fdm.get_property_value('simulation/dt')
ExecuteUntil(self.fdm, 1.0-2.0*dt)
self.CheckCGPosition()
# Moves the radio sonde to modify the CG location
self.fdm.set_property_value('inertia/pointmass-location-X-inches', 5.0)
# Check that the moment is immediately updated accordingly
self.fdm.run()
self.CheckCGPosition()
Fbx = self.fdm.get_property_value('forces/fbx-buoyancy-lbs')
Fbz = self.fdm.get_property_value('forces/fbz-buoyancy-lbs')
CGx = self.fdm.get_property_value('inertia/cg-x-in') / 12.0 # Converts from in to ft
CGz = self.fdm.get_property_value('inertia/cg-z-in') / 12.0
Mby = self.fdm.get_property_value('moments/m-buoyancy-lbsft')
self.assertAlmostEqual(Fbx * CGz - Fbz * CGx, Mby, delta=1E-7,
msg="Fbx*CGz-Fbz*CGx = %f and Mby = %f do not match" % (Fbx*CGz-Fbz*CGx, Mby))
# One further step to log the same results in the output file
self.fdm.run()
self.CheckCGPosition()
csv = Table()
csv.ReadCSV(self.sandbox('output.csv'))
Mby = csv.get_column('M_{Buoyant} (ft-lbs)')[-1]
Fbx = csv.get_column('F_{Buoyant x} (lbs)')[-1]
Fbz = csv.get_column('F_{Buoyant z} (lbs)')[-1]
self.assertAlmostEqual(Fbx * CGz - Fbz * CGx, Mby, delta=1E-7,
msg="Fbx*CGz-Fbz*CGx = %f and Mby = %f do not match" % (Fbx*CGz-Fbz*CGx, Mby))
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])
class CheckMomentsUpdate(JSBSimTestCase):
def CheckCGPosition(self):
weight = self.fdm['inertia/weight-lbs']
empty_weight = self.fdm['inertia/empty-weight-lbs']
contents = self.fdm['buoyant_forces/gas-cell/contents-mol']
radiosonde_weight = weight - empty_weight - contents * mol2lbs
CGx = self.fdm['inertia/cg-x-in']
CGy = self.fdm['inertia/cg-y-in']
CGz = self.fdm['inertia/cg-z-in']
X = self.fdm['inertia/pointmass-location-X-inches']
Y = self.fdm['inertia/pointmass-location-Y-inches']
Z = self.fdm['inertia/pointmass-location-Z-inches']
self.assertAlmostEqual(CGx, X * radiosonde_weight / weight, delta=1E-7)
self.assertAlmostEqual(CGy, Y * radiosonde_weight / weight, delta=1E-7)
self.assertAlmostEqual(CGz, Z * radiosonde_weight / weight, delta=1E-7)
def test_moments_update(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts',
'weather-balloon.xml')
self.fdm = CreateFDM(self.sandbox)
self.fdm.load_script(script_path)
self.fdm.set_output_directive(self.sandbox.path_to_jsbsim_file('tests', 'output.xml'))
self.fdm.run_ic()
self.CheckCGPosition()
dt = self.fdm['simulation/dt']
ExecuteUntil(self.fdm, 1.0-2.0*dt)
self.CheckCGPosition()
# Moves the radio sonde to modify the CG location
self.fdm['inertia/pointmass-location-X-inches'] = 5.0
# Check that the moment is immediately updated accordingly
self.fdm.run()
self.CheckCGPosition()
Fbx = self.fdm['forces/fbx-buoyancy-lbs']
Fbz = self.fdm['forces/fbz-buoyancy-lbs']
CGx = self.fdm['inertia/cg-x-in'] / 12.0 # Converts from in to ft
CGz = self.fdm['inertia/cg-z-in'] / 12.0
Mby = self.fdm['moments/m-buoyancy-lbsft']
self.assertAlmostEqual(Fbx * CGz - Fbz * CGx, Mby, delta=1E-7,
msg="Fbx*CGz-Fbz*CGx = %f and Mby = %f do not match" % (Fbx*CGz-Fbz*CGx, Mby))
# One further step to log the same results in the output file
self.fdm.run()
self.CheckCGPosition()
csv = pd.read_csv('output.csv')
Mby = csv['M_{Buoyant} (ft-lbs)'].iget(-1)
Fbx = csv['F_{Buoyant x} (lbs)'].iget(-1)
Fbz = csv['F_{Buoyant z} (lbs)'].iget(-1)
self.assertAlmostEqual(Fbx * CGz - Fbz * CGx, Mby, delta=1E-7,
msg="Fbx*CGz-Fbz*CGx = %f and Mby = %f do not match" % (Fbx*CGz-Fbz*CGx, Mby))
