def test_fuel_tanks_content(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'J2460.xml')
fdm = CreateFDM(self.sandbox)
fdm.load_script(script_path)
fdm.run_ic()
tree = et.parse(script_path)
use_tag = tree.getroot().find('use')
aircraft_name = use_tag.attrib['aircraft']
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft',
aircraft_name)
aircraft_tree = et.parse(os.path.join(aircraft_path,
aircraft_name+'.xml'))
total_fuel_quantity = 0.0
total_oxidizer_quantity = 0.0
for tank in aircraft_tree.findall('propulsion/tank'):
contents = float(tank.find('contents').text)
if tank.attrib['type'] == "FUEL":
total_fuel_quantity += contents
elif tank.attrib['type'] == 'OXIDIZER':
total_oxidizer_quantity += contents
self.assertAlmostEqual(fdm['propulsion/total-fuel-lbs'],
total_fuel_quantity)
self.assertAlmostEqual(fdm['propulsion/total-oxidizer-lbs'],
total_oxidizer_quantity)
def test_trim_on_ground(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c172x')
fdm['ic/theta-deg'] = 10.0
fdm.run_ic()
fdm['ic/theta-deg'] = 0.0
fdm['simulation/do_simple_trim'] = 2
def testDebugLvl(self):
fdm = CreateFDM(self.sandbox)
fdm.load_script(
self.sandbox.path_to_jsbsim_file('scripts', 'ball_orbit.xml'))
fdm.run_ic()
ExecuteUntil(fdm, 1000.)
ref = pd.read_csv('BallOut.csv', index_col=0)
del fdm
os.environ["JSBSIM_DEBUG"] = str(0)
fdm = CreateFDM(self.sandbox)
fdm.load_script(
self.sandbox.path_to_jsbsim_file('scripts', 'ball_orbit.xml'))
fdm.run_ic()
ExecuteUntil(fdm, 1000.)
current = pd.read_csv('BallOut.csv', index_col=0)
# Check the data are matching i.e. the time steps are the same between
# the two data sets and that the output data are also the same.
self.assertTrue(isDataMatching(ref, current))
# Find all the data that are differing by more than 1E-8 between the
# two data sets.
diff = FindDifferences(ref, current, 1E-8)
self.longMessage = True
self.assertEqual(len(diff), 0, msg='\n' + diff.to_string())
def test_hold_down_with_gnd_reactions(self):
fdm = CreateFDM(self.sandbox)
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts',
'c1721.xml'))
fdm.run_ic()
ExecuteUntil(fdm, 0.25)
fdm['forces/hold-down'] = 1.0
h0 = fdm['position/h-sl-ft']
pitch = fdm['attitude/pitch-rad']
roll = fdm['attitude/roll-rad']
heading = fdm['attitude/heading-true-rad']
while fdm['simulation/sim-time-sec'] < 2.0:
fdm.run()
self.assertAlmostEqual(fdm['accelerations/pdot-rad_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/qdot-rad_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/rdot-rad_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/udot-ft_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/vdot-ft_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/wdot-ft_sec2'], 0.0)
self.assertAlmostEqual(fdm['position/h-sl-ft'], h0, delta=1E-6)
self.assertAlmostEqual(fdm['attitude/pitch-rad'], pitch)
self.assertAlmostEqual(fdm['attitude/roll-rad'], roll)
self.assertAlmostEqual(fdm['attitude/heading-true-rad'], heading)
def test_output(self):
tree = et.parse(self.script_path)
output_tag = et.SubElement(tree.getroot(), 'output')
output_tag.attrib['name'] = 'test.csv'
output_tag.attrib['type'] = 'CSV'
output_tag.attrib['rate'] = '10'
property_tag = et.SubElement(output_tag, 'property')
property_tag.text = 'position/vrp-radius-ft'
tree.write('c1722_0.xml')
fdm = CreateFDM(self.sandbox)
fdm.load_script('c1722_0.xml')
fdm.run_ic()
ExecuteUntil(fdm, 10.)
self.assertTrue(self.sandbox.exists(output_tag.attrib['name']),
msg="The file 'output.csv' has not been created")
orig = pd.read_csv('JSBout172B.csv', index_col=0)
test = pd.read_csv('test.csv', index_col=0)
pname = '/fdm/jsbsim/' + property_tag.text
ref = orig[pname]
mod = test[pname]
# Check the data are matching i.e. the time steps are the same between
# the two data sets.
self.assertTrue(isDataMatching(ref, mod))
# Find all the data that are differing by more than 1E-8 between the
# two data sets.
delta = pd.concat([np.abs(ref - mod), ref, mod], axis=1)
delta.columns = ['delta', 'ref value', 'value']
diff = delta[delta['delta'] > 1E-8]
self.longMessage = True
self.assertEqual(len(diff), 0, msg='\n'+diff.to_string())
def testDebugLvl(self):
fdm = CreateFDM(self.sandbox)
fdm.load_script(
self.sandbox.path_to_jsbsim_file('scripts', 'ball_orbit.xml'))
fdm.run_ic()
ExecuteUntil(fdm, 1000.)
ref, current = Table(), Table()
ref.ReadCSV(self.sandbox('BallOut.csv'))
del fdm
os.environ["JSBSIM_DEBUG"] = str(0)
fdm = CreateFDM(self.sandbox)
fdm.load_script(
self.sandbox.path_to_jsbsim_file('scripts', 'ball_orbit.xml'))
fdm.run_ic()
ExecuteUntil(fdm, 1000.)
current.ReadCSV(self.sandbox('BallOut.csv'))
diff = ref.compare(current)
self.longMessage = True
self.assertTrue(diff.empty(), msg='\n' + repr(diff))
def test_FG_reset(self):
# This test reproduces how FlightGear resets. The important thing is
# that the property manager is managed by FlightGear. So it is not
# deleted when the JSBSim instance is killed.
pm = jsbsim.FGPropertyManager(new_instance=True)
self.assertFalse(pm.hasNode('fdm/jsbsim/ic/lat-geod-deg'))
fdm = CreateFDM(self.sandbox, pm)
fdm.load_model('ball')
self.assertAlmostEqual(fdm['ic/lat-geod-deg'], 0.0)
fdm['ic/lat-geod-deg'] = 45.0
fdm.run_ic()
del fdm
# Check that the property ic/lat-geod-deg has survived the JSBSim
# instance.
self.assertTrue(pm.hasNode('fdm/jsbsim/ic/lat-geod-deg'))
# Re-use the property manager just as FlightGear does.
fdm = CreateFDM(self.sandbox, pm)
self.assertAlmostEqual(fdm['ic/lat-geod-deg'], 45.0)
del fdm
def SubProcessScriptExecution(sandbox, script_path):
fdm = CreateFDM(sandbox)
fdm.load_script(script_path)
fdm.run_ic()
while fdm.run():
pass
def Compare(self, section):
# Rerun the script with the modified aircraft definition
self.sandbox.delete_csv_files()
fdm = CreateFDM(self.sandbox)
# We need to tell JSBSim that the aircraft definition is located in the
# directory build/.../aircraft
fdm.set_aircraft_path('aircraft')
fdm.set_output_directive(self.sandbox.path_to_jsbsim_file('tests',
'output.xml'))
fdm.load_script(self.script)
fdm['simulation/randomseed'] = 0.0
fdm.run_ic()
ExecuteUntil(fdm, 50.0)
mod = pd.read_csv('output.csv', index_col=0)
# Check the data are matching i.e. the time steps are the same between
# the two data sets and that the output data are also the same.
self.assertTrue(isDataMatching(self.ref, mod))
# Whether the data is read from the aircraft definition file or from an
# external file, the results shall be exactly identical. Hence the
# precision set to 0.0.
diff = FindDifferences(self.ref, mod, 0.0)
self.assertEqual(len(diff), 0,
msg='\nTesting section "'+section+'"\n'+diff.to_string())
def testAircrafts(self):
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
for d in os.listdir(aircraft_path):
fullpath = os.path.join(aircraft_path, d)
# Is d a directory ?
if not os.path.isdir(fullpath):
continue
f = os.path.join(aircraft_path, d, d + '.xml')
# Is f an aircraft definition file ?
if not CheckXMLFile(f, 'fdm_config'):
continue
if d in ('blank'):
continue
fdm = CreateFDM(self.sandbox)
self.assertTrue(fdm.load_model(d),
msg='Failed to load aircraft %s' % (d, ))
for f in os.listdir(fullpath):
f = os.path.join(aircraft_path, d, f)
if CheckXMLFile(f, 'initialize'):
self.assertTrue(
fdm.load_ic(f, False),
msg='Failed to load IC %s for aircraft %s' % (f, d))
try:
fdm.run_ic()
except RuntimeError:
self.fail('Failed to run IC %s for aircraft %s' %
(f, d))
del fdm
def Compare(self, section):
# Rerun the script with the modified aircraft definition
self.sandbox.delete_csv_files()
fdm = CreateFDM(self.sandbox)
# We need to tell JSBSim that the aircraft definition is located in the
# directory build/.../aircraft
fdm.set_aircraft_path('aircraft')
fdm.set_output_directive(
self.sandbox.path_to_jsbsim_file('tests', 'output.xml'))
fdm.load_script(self.script)
fdm.set_property_value('simulation/randomseed', 0.0)
fdm.run_ic()
ExecuteUntil(fdm, 50.0)
mod = Table()
mod.ReadCSV(self.sandbox('output.csv'))
# Whether the data is read from the aircraft definition file or from an
# external file, the results shall be exactly identical. Hence the
# precision set to 0.0.
diff = self.ref.compare(mod, 0.0)
self.assertTrue(diff.empty(),
msg='\nTesting section "' + section + '"\n' +
repr(diff))
def test_fuel_tanks_content(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'J2460.xml')
fdm = CreateFDM(self.sandbox)
fdm.load_script(script_path)
fdm.run_ic()
tree = et.parse(script_path)
use_tag = tree.getroot().find('use')
aircraft_name = use_tag.attrib['aircraft']
aircraft_path = self.sandbox.path_to_jsbsim_file(
'aircraft', aircraft_name)
aircraft_tree = et.parse(
os.path.join(aircraft_path, aircraft_name + '.xml'))
total_fuel_quantity = 0.0
total_oxidizer_quantity = 0.0
for tank in aircraft_tree.findall('propulsion/tank'):
contents = float(tank.find('contents').text)
if tank.attrib['type'] == "FUEL":
total_fuel_quantity += contents
elif tank.attrib['type'] == 'OXIDIZER':
total_oxidizer_quantity += contents
self.assertAlmostEqual(fdm['propulsion/total-fuel-lbs'],
total_fuel_quantity)
self.assertAlmostEqual(fdm['propulsion/total-oxidizer-lbs'],
total_oxidizer_quantity)
def testDebugLvl(self):
fdm = CreateFDM(self.sandbox)
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts',
'ball_orbit.xml'))
fdm.run_ic()
ExecuteUntil(fdm, 1000.)
ref = pd.read_csv('BallOut.csv', index_col=0)
del fdm
os.environ["JSBSIM_DEBUG"] = str(0)
fdm = CreateFDM(self.sandbox)
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts',
'ball_orbit.xml'))
fdm.run_ic()
ExecuteUntil(fdm, 1000.)
current = pd.read_csv('BallOut.csv', index_col=0)
# Check the data are matching i.e. the time steps are the same between
# the two data sets and that the output data are also the same.
self.assertTrue(isDataMatching(ref, current))
# Find all the data that are differing by more than 1E-8 between the
# two data sets.
diff = FindDifferences(ref, current, 1E-8)
self.longMessage = True
self.assertEqual(len(diff), 0, msg='\n'+diff.to_string())
def testOrbit(self):
script_name = 'ball_orbit.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
# The time step is too small in ball_orbit so let's increase it to 0.1s
# for a quicker run
tree = et.parse(script_path)
run_tag = tree.getroot().find('./run')
run_tag.attrib['dt'] = '0.1'
tree.write(script_name)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_name)
# Switch the accel on
fdm['fcs/accelerometer/on'] = 1.0
fdm.run_ic()
while fdm.run():
self.assertAlmostEqual(fdm['fcs/accelerometer/X'], 0.0, delta=1E-8)
self.assertAlmostEqual(fdm['fcs/accelerometer/Y'], 0.0, delta=1E-8)
self.assertAlmostEqual(fdm['fcs/accelerometer/Z'], 0.0, delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-x-ft_sec2'],
0.0,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-y-ft_sec2'],
0.0,
delta=1E-8)
self.assertAlmostEqual(fdm['accelerations/a-pilot-z-ft_sec2'],
0.0,
delta=1E-8)
del fdm
def test_humidity_parameters(self):
# Table: Dew point (deg C), Vapor pressure (Pa), RH
humidity_table = [
(-40.0, 19.021201, 0.815452, 1.2040321),
(-30.0, 51.168875, 2.193645, 1.2038877),
(-20.0, 125.965126, 5.4002118, 1.2035517),
(-10.0, 287.031031, 12.3052182, 1.2028282),
( 0.0, 611.2, 26.2025655, 1.2013721),
( 10.0, 1226.030206, 52.5607604, 1.1986102),
( 20.0, 2332.5960221, 100., 1.1936395)
]
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
fdm['atmosphere/delta-T'] = 5.0*self.K_to_R
fdm.run_ic()
Psat = fdm['atmosphere/saturated-vapor-pressure-psf']/self.Pa_to_psf
self.assertAlmostEqual(Psat, humidity_table[-1][1])
self.assertAlmostEqual(fdm['atmosphere/vapor-pressure-psf'], 0.0)
self.assertAlmostEqual(fdm['atmosphere/RH'], 0.0)
self.assertAlmostEqual(fdm['atmosphere/dew-point-R'], 54.054)
for Tdp, Pv, RH, rho in humidity_table:
fdm['atmosphere/dew-point-R'] = (Tdp+273.15)*self.K_to_R
fdm.run_ic()
self.assertAlmostEqual(fdm['atmosphere/vapor-pressure-psf'],
Pv*self.Pa_to_psf)
self.assertAlmostEqual(fdm['atmosphere/RH'], RH)
self.assertAlmostEqual(fdm['atmosphere/rho-slugs_ft3']/(self.kg_to_slug*math.pow(0.3048,3)),
rho)
del fdm
def test_direct_steer(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c172r')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'c172r', 'reset00'), False)
fdm.run_ic()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0)
# Should be part of a unit test in C++ ?
fpectl.turnon_sigfpe()
grndreact = fdm.get_ground_reactions()
for i in xrange(grndreact.get_num_gear_units()):
gear = grndreact.get_gear_unit(i)
self.assertEqual(gear.get_steer_norm(), 0.0)
fpectl.turnoff_sigfpe()
fdm['fcs/steer-pos-deg'] = 5.0
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
fdm['fcs/steer-cmd-norm'] = 1.0
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 10.0)
def LoadScript(self, tree, script_path, prop_output_to_CSV=[]):
# Make a local copy of files referenced by the script.
for element in list(tree.getroot()):
if 'file' in element.keys():
name = append_xml(element.attrib['file'])
name_with_path = os.path.join(os.path.dirname(script_path),
name)
if os.path.exists(name_with_path):
shutil.copy(name_with_path, name)
# Generate a CSV file to check that it is correctly initialized
# with the initial values
output_tag = et.SubElement(tree.getroot(), 'output')
output_tag.attrib['name'] = 'check_csv_values.csv'
output_tag.attrib['type'] = 'CSV'
output_tag.attrib['rate'] = '10'
position_tag = et.SubElement(output_tag, 'position')
position_tag.text = 'ON'
velocities_tag = et.SubElement(output_tag, 'velocities')
velocities_tag.text = 'ON'
for props in prop_output_to_CSV:
property_tag = et.SubElement(output_tag, 'property')
property_tag.text = props
f = os.path.split(script_path)[-1] # Script name
tree.write(f)
# Initialize the script
fdm = CreateFDM(self.sandbox)
self.assertTrue(fdm.load_script(f),
msg="Failed to load script %s" % (f, ))
fdm.run_ic()
return (f, fdm)
def 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_steer_with_fcs(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('L410')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'L410', 'reset00'), False)
fdm.run_ic()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 0.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0)
fdm['fcs/steer-cmd-norm'] = 1.0
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 5.0)
fdm['/controls/switches/full-steering-sw'] = 1.0
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 0.0)
fdm['/controls/switches/full-steering-sw'] = 2.0
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], 1.0)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], 45.0)
fdm['fcs/steer-cmd-norm'] = -0.5
fdm.run()
self.assertAlmostEqual(fdm['fcs/steer-cmd-norm'], -0.5)
self.assertAlmostEqual(fdm['fcs/steer-pos-deg'], -22.5)
def LoadScript(self, tree, script_path, prop_output_to_CSV=[]):
# Make a local copy of files referenced by the script.
for element in list(tree.getroot()):
if 'file' in element.keys():
name = append_xml(element.attrib['file'])
name_with_path = os.path.join(os.path.dirname(script_path),
name)
if os.path.exists(name_with_path):
shutil.copy(name_with_path, name)
# Generate a CSV file to check that it is correctly initialized
# with the initial values
output_tag = et.SubElement(tree.getroot(), 'output')
output_tag.attrib['name'] = 'check_csv_values.csv'
output_tag.attrib['type'] = 'CSV'
output_tag.attrib['rate'] = '10'
position_tag = et.SubElement(output_tag, 'position')
position_tag.text = 'ON'
velocities_tag = et.SubElement(output_tag, 'velocities')
velocities_tag.text = 'ON'
for props in prop_output_to_CSV:
property_tag = et.SubElement(output_tag, 'property')
property_tag.text = props
f = os.path.split(script_path)[-1] # Script name
tree.write(f)
# Initialize the script
fdm = CreateFDM(self.sandbox)
self.assertTrue(fdm.load_script(f),
msg="Failed to load script %s" % (f,))
fdm.run_ic()
return (f, fdm)
def test_waypoint(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c310')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'c310', 'reset00'), False)
slr = 20925646.32546 # Sea Level Radius
TestCases = (
(0.25 * math.pi, 0.5 * math.pi, 0.0, 0.0),
(0.0, 0.5 * math.pi, math.pi, slr * 0.25 * math.pi),
# North pole
(0.5 * math.pi, 0.5 * math.pi, 0.0, slr * 0.25 * math.pi),
# South pole
(-0.5 * math.pi, 0.5 * math.pi, math.pi, slr * 0.75 * math.pi),
(0.0, 0.0, 1.5 * math.pi, slr * 0.5 * math.pi),
(0.0, math.pi, 0.5 * math.pi, slr * 0.5 * math.pi))
fdm['ic/lat-gc-rad'] = TestCases[0][0]
fdm['ic/long-gc-rad'] = TestCases[0][1]
for case in TestCases:
fdm['guidance/target_wp_latitude_rad'] = case[0]
fdm['guidance/target_wp_longitude_rad'] = case[1]
fdm.run_ic()
self.assertAlmostEqual(fdm['guidance/wp-heading-rad'], case[2])
self.assertAlmostEqual(fdm['guidance/wp-distance'], case[3])
def test_output(self):
tree = et.parse(self.script_path)
output_tag = et.SubElement(tree.getroot(), 'output')
output_tag.attrib['name'] = 'test.csv'
output_tag.attrib['type'] = 'CSV'
output_tag.attrib['rate'] = '10'
property_tag = et.SubElement(output_tag, 'property')
property_tag.text = 'position/vrp-radius-ft'
tree.write('c1722_0.xml')
fdm = CreateFDM(self.sandbox)
fdm.load_script('c1722_0.xml')
fdm.run_ic()
ExecuteUntil(fdm, 10.)
self.assertTrue(self.sandbox.exists(output_tag.attrib['name']),
msg="The file 'output.csv' has not been created")
orig = pd.read_csv('JSBout172B.csv', index_col=0)
test = pd.read_csv('test.csv', index_col=0)
pname = '/fdm/jsbsim/' + property_tag.text
ref = orig[pname]
mod = test[pname]
# Check the data are matching i.e. the time steps are the same between
# the two data sets.
self.assertTrue(isDataMatching(ref, mod))
# Find all the data that are differing by more than 1E-8 between the
# two data sets.
delta = pd.concat([np.abs(ref - mod), ref, mod], axis=1)
delta.columns = ['delta', 'ref value', 'value']
diff = delta[delta['delta'] > 1E-8]
self.longMessage = True
self.assertEqual(len(diff), 0, msg='\n' + diff.to_string())
def test_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_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_CAS_ic(self):
script_name = 'Short_S23_3.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
# Add a Pitot angle to the Short S23
tree, aircraft_name, path_to_jsbsim_aircrafts = CopyAircraftDef(script_path, self.sandbox)
self.addPitotTube(tree.getroot(), 5.0)
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
# Read the CAS specified in the IC file
tree = et.parse(script_path)
use_element = tree.getroot().find('use')
IC_file = use_element.attrib['initialize']
tree = et.parse(os.path.join(path_to_jsbsim_aircrafts,
append_xml(IC_file)))
vc_tag = tree.getroot().find('./vc')
VCAS = float(vc_tag.text)
if 'unit' in vc_tag.attrib and vc_tag.attrib['unit'] == 'FT/SEC':
VCAS /= 1.68781 # Converts in kts
# Run the IC and check that the model is initialized correctly
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
fdm.run_ic()
self.assertAlmostEqual(fdm['ic/vc-kts'], VCAS, delta=1E-7)
self.assertAlmostEqual(fdm['velocities/vc-kts'], VCAS, delta=1E-7)
def testAircrafts(self):
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
for d in os.listdir(aircraft_path):
fullpath = os.path.join(aircraft_path, d)
# Is d a directory ?
if not os.path.isdir(fullpath):
continue
f = os.path.join(aircraft_path, d, d+'.xml')
# Is f an aircraft definition file ?
if not CheckXMLFile(f, 'fdm_config'):
continue
if d in ('blank'):
continue
fdm = CreateFDM(self.sandbox)
self.assertTrue(fdm.load_model(d),
msg='Failed to load aircraft %s' % (d,))
for f in os.listdir(fullpath):
f = os.path.join(aircraft_path, d, f)
if CheckXMLFile(f, 'initialize'):
self.assertTrue(fdm.load_ic(f, False),
msg='Failed to load IC %s for aircraft %s' % (f, d))
try:
fdm.run_ic()
except RuntimeError:
self.fail('Failed to run IC %s for aircraft %s' % (f, d))
del fdm
def test_wind_frame(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts',
'ball_chute.xml')
fdm = CreateFDM(self.sandbox)
fdm.load_script(script_path)
fdm.run_ic()
self.assertAlmostEqual(
fdm['external_reactions/parachute/location-x-in'], 12.0)
self.assertAlmostEqual(
fdm['external_reactions/parachute/location-y-in'], 0.0)
self.assertAlmostEqual(
fdm['external_reactions/parachute/location-z-in'], 0.0)
self.assertAlmostEqual(fdm['external_reactions/parachute/x'], -1.0)
self.assertAlmostEqual(fdm['external_reactions/parachute/y'], 0.0)
self.assertAlmostEqual(fdm['external_reactions/parachute/z'], 0.0)
while fdm.run():
Tw2b = fdm.get_auxiliary().get_Tw2b()
mag = fdm['aero/qbar-psf'] * fdm[
'fcs/parachute_reef_pos_norm'] * 20.0
f = Tw2b * np.mat([-1.0, 0.0, 0.0]).T * mag
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0, 0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1, 0])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2, 0])
m = np.cross(self.getLeverArm(fdm, 'parachute'),
np.array([f[0, 0], f[1, 0], f[2, 0]]))
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
def Compare(self, section):
# Rerun the script with the modified aircraft definition
self.sandbox.delete_csv_files()
fdm = CreateFDM(self.sandbox)
# We need to tell JSBSim that the aircraft definition is located in the
# directory build/.../aircraft
fdm.set_aircraft_path('aircraft')
fdm.set_output_directive(
self.sandbox.path_to_jsbsim_file('tests', 'output.xml'))
fdm.load_script(self.script)
fdm['simulation/randomseed'] = 0.0
fdm.run_ic()
ExecuteUntil(fdm, 50.0)
mod = pd.read_csv('output.csv', index_col=0)
# Check the data are matching i.e. the time steps are the same between
# the two data sets and that the output data are also the same.
self.assertTrue(isDataMatching(self.ref, mod))
# Whether the data is read from the aircraft definition file or from an
# external file, the results shall be exactly identical. Hence the
# precision set to 0.0.
diff = FindDifferences(self.ref, mod, 0.0)
self.assertEqual(len(diff),
0,
msg='\nTesting section "' + section + '"\n' +
diff.to_string())
def test_pitot_angle(self):
script_name = 'ball_chute.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
# Add a Pitot angle to the Cessna 172
tree, aircraft_name, path_to_jsbsim_aircrafts = CopyAircraftDef(
script_path, self.sandbox)
root = tree.getroot()
pitot_angle_deg = 5.0
self.addPitotTube(root, 5.0)
contact_tag = root.find('./ground_reactions/contact')
contact_tag.attrib['type'] = 'STRUCTURE'
tree.write(
self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model('ball')
pitot_angle = pitot_angle_deg * math.pi / 180.
weight = fdm['inertia/weight-lbs']
spring_tag = contact_tag.find('./spring_coeff')
spring_coeff = float(spring_tag.text)
print("Weight=%d Spring=%d" % (weight, spring_coeff))
fdm['ic/h-sl-ft'] = weight / spring_coeff
fdm['forces/hold-down'] = 1.0
fdm.run_ic()
ExecuteUntil(fdm, 10.)
for i in range(36):
for j in range(-9, 10):
angle = math.pi * i / 18.0
angle2 = math.pi * j / 18.0
ca2 = math.cos(angle2)
fdm['atmosphere/wind-north-fps'] = 10. * math.cos(angle) * ca2
fdm['atmosphere/wind-east-fps'] = 10. * math.sin(angle) * ca2
fdm['atmosphere/wind-down-fps'] = 10. * math.sin(angle2)
fdm.run()
vg = fdm['velocities/vg-fps']
self.assertAlmostEqual(vg, 0.0, delta=1E-7)
vt = fdm['velocities/vt-fps']
self.assertAlmostEqual(vt, 10., delta=1E-7)
mach = vt / fdm['atmosphere/a-fps']
P = fdm['atmosphere/P-psf']
pt = P * math.pow(1 + 0.2 * mach * mach, 3.5)
psl = fdm['atmosphere/P-sl-psf']
rhosl = fdm['atmosphere/rho-sl-slugs_ft3']
A = math.pow((pt - P) / psl + 1.0, 1.0 / 3.5)
alpha = fdm['aero/alpha-rad']
beta = fdm['aero/beta-rad']
vc = math.sqrt(
7.0 * psl / rhosl *
(A - 1.0)) * math.cos(alpha + pitot_angle) * math.cos(beta)
self.assertAlmostEqual(fdm['velocities/vc-kts'],
max(0.0, vc) / 1.68781,
delta=1E-7)
def testKinematicTiming(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c172r')
fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', 'c172r',
'reset00'), False)
fdm.run_ic()
self.assertEqual(fdm['fcs/flap-cmd-norm'], 0.0)
self.assertEqual(fdm['fcs/flap-pos-deg'], 0.0)
# Test the flap down sequence. The flap command is set to a value
# higher than 1.0 to check that JSBSim clamps it to 1.0
fdm['fcs/flap-cmd-norm'] = 1.5
t = fdm['simulation/sim-time-sec']
while t < 2.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 5.*t)
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 4.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 10.*(t-1.))
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 5.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 30.)
fdm.run()
t = fdm['simulation/sim-time-sec']
# Test the flap up sequence with an interruption at 7.5 deg
fdm['fcs/flap-cmd-norm'] = 0.25
while t < 7.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 30.-10.*(t-5.))
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 7.5:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 10.-5.*(t-7.))
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 8.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 7.5)
fdm.run()
t = fdm['simulation/sim-time-sec']
# Complete the flap up sequence. The flap command is set to a value
# lower than 0.0 to check that JSBSim clamps it to 0.0
fdm['fcs/flap-cmd-norm'] = -1.
while t < 9.5:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 10.-5.*(t-7.5))
fdm.run()
t = fdm['simulation/sim-time-sec']
while t < 10.0:
self.assertAlmostEqual(fdm['fcs/flap-pos-deg'], 0.0)
fdm.run()
t = fdm['simulation/sim-time-sec']
def test_trim_doesnt_ignite_rockets(self):
# Run a longitudinal trim with a rocket equipped with solid propellant
# boosters (aka SRBs). The trim algorithm will try to reach a vertical
# equilibrium by tweaking the throttle but since the rocket is nose up,
# the trim cannot converge. As a result the algorithm will set full
# throttle which will result in the SRBs ignition if the integration is
# not suspended. This bug has been reported in FlightGear and this test
# is checking that there is no regression.
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
fdm.load_ic(
self.sandbox.path_to_jsbsim_file('aircraft', 'J246', 'LC39'),
False)
fdm.run_ic()
# Check that the SRBs are not ignited
self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0)
self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0)
try:
fdm['simulation/do_simple_trim'] = 1
except RuntimeError as e:
# The trim cannot succeed. Just make sure that the raised exception
# is due to the trim failure otherwise rethrow.
if e.args[0] != 'Trim Failed':
raise
# Check that the trim did not ignite the SRBs
self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0)
self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0)
def test_hold_down_with_gnd_reactions(self):
fdm = CreateFDM(self.sandbox)
fdm.load_script(
self.sandbox.path_to_jsbsim_file('scripts', 'c1721.xml'))
fdm.run_ic()
ExecuteUntil(fdm, 0.25)
fdm['forces/hold-down'] = 1.0
h0 = fdm['position/h-sl-ft']
pitch = fdm['attitude/pitch-rad']
roll = fdm['attitude/roll-rad']
heading = fdm['attitude/heading-true-rad']
while fdm['simulation/sim-time-sec'] < 2.0:
fdm.run()
self.assertAlmostEqual(fdm['accelerations/pdot-rad_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/qdot-rad_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/rdot-rad_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/udot-ft_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/vdot-ft_sec2'], 0.0)
self.assertAlmostEqual(fdm['accelerations/wdot-ft_sec2'], 0.0)
self.assertAlmostEqual(fdm['position/h-sl-ft'], h0, delta=1E-6)
self.assertAlmostEqual(fdm['attitude/pitch-rad'], pitch)
self.assertAlmostEqual(fdm['attitude/roll-rad'], roll)
self.assertAlmostEqual(fdm['attitude/heading-true-rad'], heading)
def testFunctionWithIndexedProps(self):
tree = et.parse(self.sandbox.path_to_jsbsim_file('engine',
'eng_PegasusXc.xml'))
# Define the function starter-max-power-W as a 'post' function
root = tree.getroot()
startPowFunc_tag = root.find("function/[@name='propulsion/engine[#]/starter-max-power-W']")
startPowFunc_tag.attrib['type']='post'
tree.write('eng_PegasusXc.xml')
# Copy the propeller file.
shutil.copy(self.sandbox.path_to_jsbsim_file('engine', 'prop_deHavilland5000.xml'),
'.')
fdm = CreateFDM(self.sandbox)
fdm.set_engine_path('.')
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts',
'Short_S23_1.xml'))
fdm.run_ic()
pm = fdm.get_property_manager()
self.assertTrue(pm.hasNode('propulsion/engine[0]/starter-max-power-W'))
self.assertTrue(pm.hasNode('propulsion/engine[1]/starter-max-power-W'))
self.assertTrue(pm.hasNode('propulsion/engine[2]/starter-max-power-W'))
self.assertTrue(pm.hasNode('propulsion/engine[3]/starter-max-power-W'))
while fdm.run():
rpm = [fdm['propulsion/engine[0]/engine-rpm'],
fdm['propulsion/engine[1]/engine-rpm'],
fdm['propulsion/engine[2]/engine-rpm'],
fdm['propulsion/engine[3]/engine-rpm']]
for i in range(4):
maxPower = max(0.0, 1.0-rpm[i]/400)*498.941*0.10471976*rpm[i]
self.assertAlmostEqual(fdm['propulsion/engine[%d]/starter-max-power-W' % (i,)],
maxPower)
def test_gust_reset(self):
fdm = CreateFDM(self.sandbox)
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts',
'c172_cruise_8K.xml'))
fdm['simulation/randomseed'] = 0.0
fdm.set_output_directive(self.sandbox.path_to_jsbsim_file('tests', 'output.xml'))
fdm.run_ic()
ExecuteUntil(fdm, 15.5)
ref = pd.read_csv('output.csv', index_col=0)
fdm['simulation/randomseed'] = 0.0
fdm.reset_to_initial_conditions(1)
ExecuteUntil(fdm, 15.5)
current = pd.read_csv('output_0.csv', index_col=0)
# Check the data are matching i.e. the time steps are the same between
# the two data sets and that the output data are also the same.
self.assertTrue(isDataMatching(ref, current))
# Find all the data that are differing by more than 1E-8 between the
# two data sets.
diff = FindDifferences(ref, current, 1E-8)
self.longMessage = True
self.assertEqual(len(diff), 0, msg='\n'+diff.to_string())
def test_wind_frame(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts',
'ball_chute.xml')
fdm = CreateFDM(self.sandbox)
fdm.load_script(script_path)
fdm.run_ic()
self.assertAlmostEqual(fdm['external_reactions/parachute/location-x-in'],
12.0)
self.assertAlmostEqual(fdm['external_reactions/parachute/location-y-in'],
0.0)
self.assertAlmostEqual(fdm['external_reactions/parachute/location-z-in'],
0.0)
self.assertAlmostEqual(fdm['external_reactions/parachute/x'], -1.0)
self.assertAlmostEqual(fdm['external_reactions/parachute/y'], 0.0)
self.assertAlmostEqual(fdm['external_reactions/parachute/z'], 0.0)
while fdm.run():
Tw2b = fdm.get_auxiliary().get_Tw2b()
mag = fdm['aero/qbar-psf'] * fdm['fcs/parachute_reef_pos_norm']*20.0
f = Tw2b * np.mat([-1.0, 0.0, 0.0]).T * mag
self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0, 0])
self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1, 0])
self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2, 0])
m = np.cross(self.getLeverArm(fdm,'parachute'),
np.array([f[0,0], f[1,0], f[2, 0]]))
self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0])
self.assertAlmostEqual(fdm['moments/m-external-lbsft'], m[1])
self.assertAlmostEqual(fdm['moments/n-external-lbsft'], m[2])
def test_trim_doesnt_ignite_rockets(self):
# Run a longitudinal trim with a rocket equipped with solid propellant
# boosters (aka SRBs). The trim algorithm will try to reach a vertical
# equilibrium by tweaking the throttle but since the rocket is nose up,
# the trim cannot converge. As a result the algorithm will set full
# throttle which will result in the SRBs ignition if the integration is
# not suspended. This bug has been reported in FlightGear and this test
# is checking that there is no regression.
fdm = CreateFDM(self.sandbox)
fdm.load_model('J246')
fdm.load_ic(self.sandbox.path_to_jsbsim_file('aircraft', 'J246',
'LC39'), False)
fdm.run_ic()
# Check that the SRBs are not ignited
self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0)
self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0)
try:
fdm['simulation/do_simple_trim'] = 1
except RuntimeError as e:
# The trim cannot succeed. Just make sure that the raised exception
# is due to the trim failure otherwise rethrow.
if e.args[0] != 'Trim Failed':
raise
# Check that the trim did not ignite the SRBs
self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0)
self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0)
def test_waypoint(self):
fdm = CreateFDM(self.sandbox)
fdm.load_model('c310')
aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft')
fdm.load_ic(os.path.join(aircraft_path, 'c310', 'reset00'), False)
slr = 20925646.32546 # Sea Level Radius
TestCases = ((0.25*math.pi, 0.5*math.pi, 0.0, 0.0),
(0.0, 0.5*math.pi, math.pi, slr*0.25*math.pi),
# North pole
(0.5*math.pi, 0.5*math.pi, 0.0, slr*0.25*math.pi),
# South pole
(-0.5*math.pi, 0.5*math.pi, math.pi, slr*0.75*math.pi),
(0.0, 0.0, 1.5*math.pi, slr*0.5*math.pi),
(0.0, math.pi, 0.5*math.pi, slr*0.5*math.pi))
fdm['ic/lat-gc-rad'] = TestCases[0][0]
fdm['ic/long-gc-rad'] = TestCases[0][1]
for case in TestCases:
fdm['guidance/target_wp_latitude_rad'] = case[0]
fdm['guidance/target_wp_longitude_rad'] = case[1]
fdm.run_ic()
self.assertAlmostEqual(fdm['guidance/wp-heading-rad'], case[2])
self.assertAlmostEqual(fdm['guidance/wp-distance'], case[3])
def test_fuel_tanks_inertia(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'c1722.xml')
# The aircraft c172x does not contain an <inertia_factor> tag so we
# need to add one.
tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox)
tank_tag = tree.getroot().find('propulsion/tank')
inertia_factor = et.SubElement(tank_tag, 'inertia_factor')
inertia_factor.text = '1.0'
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
fdm.run_ic()
contents0 = fdm['propulsion/tank/contents-lbs']
ixx0 = fdm['propulsion/tank/local-ixx-slug_ft2']
iyy0 = fdm['propulsion/tank/local-iyy-slug_ft2']
izz0 = fdm['propulsion/tank/local-izz-slug_ft2']
# Remove half of the tank contents and check that the inertias are
# updated accordingly
fdm['propulsion/tank/contents-lbs'] = 0.5*contents0
contents = fdm['propulsion/tank/contents-lbs']
ixx = fdm['propulsion/tank/local-ixx-slug_ft2']
iyy = fdm['propulsion/tank/local-iyy-slug_ft2']
izz = fdm['propulsion/tank/local-izz-slug_ft2']
self.assertAlmostEqual(contents, 0.5*contents0, delta=1E-7,
msg="The tank content (%f lbs) should be %f lbs" % (contents, 0.5*contents0))
self.assertAlmostEqual(ixx, 0.5*ixx0, delta=1E-7,
msg="The tank inertia Ixx (%f slug*ft^2) should be %f slug*ft^2" % (ixx, 0.5*ixx0))
self.assertAlmostEqual(iyy, 0.5*iyy0, delta=1E-7,
msg="The tank inertia Iyy (%f slug*ft^2) should be %f slug*ft^2" % (iyy, 0.5*iyy0))
self.assertAlmostEqual(izz, 0.5*izz0, delta=1E-7,
msg="The tank inertia Izz (%f slug*ft^2) should be %f slug*ft^2" % (izz, 0.5*izz0))
# Execute the script and check that the fuel inertias have been updated
# along with the consumption.
ExecuteUntil(fdm, 200.0)
contents = fdm['propulsion/tank/contents-lbs']
ixx = fdm['propulsion/tank/local-ixx-slug_ft2']
iyy = fdm['propulsion/tank/local-iyy-slug_ft2']
izz = fdm['propulsion/tank/local-izz-slug_ft2']
contents_ratio = contents / contents0
ixx_ratio = ixx / ixx0
iyy_ratio = iyy / iyy0
izz_ratio = izz / izz0
self.assertAlmostEqual(contents_ratio, ixx_ratio, delta=1E-7,
msg="Ixx does not vary as the tank content does\nIxx ratio=%f\nContents ratio=%f" % (ixx_ratio, contents_ratio))
self.assertAlmostEqual(contents_ratio, iyy_ratio, delta=1E-7,
msg="Iyy does not vary as the tank content does\nIyy ratio=%f\nContents ratio=%f" % (iyy_ratio, contents_ratio))
self.assertAlmostEqual(contents_ratio, izz_ratio, delta=1E-7,
msg="Izz does not vary as the tank content does\nIzz ratio=%f\nContents ratio=%f" % (izz_ratio, contents_ratio))
def test_no_output(self):
fdm = CreateFDM(self.sandbox)
fdm.load_script(self.script_path)
fdm.run_ic()
ExecuteUntil(fdm, 10.)
self.assertFalse(self.sandbox.exists('output.csv'),
msg="Results have unexpectedly been written to 'output.csv'")
def test_no_input(self):
fdm = CreateFDM(self.sandbox)
fdm.load_script(self.script_path)
fdm.run_ic()
fdm.hold()
with self.assertRaises(socket.error):
TelnetInterface(fdm, 5., 1137)
def testScripts(self):
for s in self.script_list():
fdm = CreateFDM(self.sandbox)
self.assertTrue(fdm.load_script(s),
msg="Failed to load script %s" % (s,))
fdm.run_ic()
del fdm
def test_no_input(self):
fdm = CreateFDM(self.sandbox)
fdm.load_script(self.script_path)
fdm.run_ic()
fdm.hold()
with self.assertRaises(socket.error):
TelnetInterface(fdm, 5., 1137)
def test_fuel_tanks_inertia(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'c1722.xml')
# The aircraft c172x does not contain an <inertia_factor> tag so we need
# to add one.
tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox)
tank_tag = tree.getroot().find('./propulsion/tank')
inertia_factor = et.SubElement(tank_tag, 'inertia_factor')
inertia_factor.text = '1.0'
tree.write(self.sandbox('aircraft', aircraft_name, aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
fdm.run_ic()
contents0 = fdm.get_property_value('propulsion/tank/contents-lbs')
ixx0 = fdm.get_property_value('propulsion/tank/local-ixx-slug_ft2')
iyy0 = fdm.get_property_value('propulsion/tank/local-iyy-slug_ft2')
izz0 = fdm.get_property_value('propulsion/tank/local-izz-slug_ft2')
# Remove half of the tank contents and check that the inertias are
# updated accordingly
fdm.set_property_value('propulsion/tank/contents-lbs', 0.5*contents0)
contents = fdm.get_property_value('propulsion/tank/contents-lbs')
ixx = fdm.get_property_value('propulsion/tank/local-ixx-slug_ft2')
iyy = fdm.get_property_value('propulsion/tank/local-iyy-slug_ft2')
izz = fdm.get_property_value('propulsion/tank/local-izz-slug_ft2')
self.assertTrue(abs(contents-0.5*contents0) < 1E-7,
msg="The tank content (%f lbs) should be %f lbs" % (contents, 0.5*contents0))
self.assertTrue(abs(ixx-0.5*ixx0) < 1E-7,
msg="The tank inertia Ixx (%f slug*ft^2) should be %f slug*ft^2" % (ixx, 0.5*ixx0))
self.assertTrue(abs(iyy-0.5*iyy0) < 1E-7,
msg="The tank inertia Iyy (%f slug*ft^2) should be %f slug*ft^2" % (iyy, 0.5*iyy0))
self.assertTrue(abs(izz-0.5*izz0) < 1E-7,
msg="The tank inertia Izz (%f slug*ft^2) should be %f slug*ft^2" % (izz, 0.5*izz0))
# Execute the script and check that the fuel inertias have been updated
# along with the consumption.
ExecuteUntil(fdm, 200.0)
contents = fdm.get_property_value('propulsion/tank/contents-lbs')
ixx = fdm.get_property_value('propulsion/tank/local-ixx-slug_ft2')
iyy = fdm.get_property_value('propulsion/tank/local-iyy-slug_ft2')
izz = fdm.get_property_value('propulsion/tank/local-izz-slug_ft2')
contents_ratio = contents / contents0
ixx_ratio = ixx / ixx0
iyy_ratio = iyy / iyy0
izz_ratio = izz / izz0
self.assertTrue(abs(contents_ratio - ixx_ratio) < 1E-7,
msg="Ixx does not vary as the tank content does\nIxx ratio=%f\nContents ratio=%f" % (ixx_ratio, contents_ratio))
self.assertTrue(abs(contents_ratio - iyy_ratio) < 1E-7,
msg="Iyy does not vary as the tank content does\nIyy ratio=%f\nContents ratio=%f" % (iyy_ratio, contents_ratio))
self.assertTrue(abs(contents_ratio - izz_ratio) < 1E-7,
msg="Izz does not vary as the tank content does\nIzz ratio=%f\nContents ratio=%f" % (izz_ratio, contents_ratio))
def test_trim_on_ground(self):
# Check that the trim is made with up to date initial conditions
fdm = CreateFDM(self.sandbox)
fdm.load_model('c172x')
fdm['ic/theta-deg'] = 10.0
fdm.run_ic()
fdm['ic/theta-deg'] = 0.0
# If the trim fails, it will raise an exception
fdm['simulation/do_simple_trim'] = 2
def test_pitot_angle(self):
script_name = 'ball_chute.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
# Add a Pitot angle to the Cessna 172
tree, aircraft_name, path_to_jsbsim_aircrafts = CopyAircraftDef(script_path, self.sandbox)
root = tree.getroot()
pitot_angle_deg = 5.0
self.addPitotTube(root, 5.0)
contact_tag = root.find('./ground_reactions/contact')
contact_tag.attrib['type'] = 'STRUCTURE'
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_model('ball')
pitot_angle = pitot_angle_deg * math.pi / 180.
weight = fdm['inertia/weight-lbs']
spring_tag = contact_tag.find('./spring_coeff')
spring_coeff = float(spring_tag.text)
print "Weight=%d Spring=%d" % (weight, spring_coeff)
fdm['ic/h-sl-ft'] = weight / spring_coeff
fdm['forces/hold-down'] = 1.0
fdm.run_ic()
ExecuteUntil(fdm, 10.)
for i in xrange(36):
for j in xrange(-9, 10):
angle = math.pi * i / 18.0
angle2 = math.pi * j / 18.0
ca2 = math.cos(angle2)
fdm['atmosphere/wind-north-fps'] = 10. * math.cos(angle) * ca2
fdm['atmosphere/wind-east-fps'] = 10. * math.sin(angle) * ca2
fdm['atmosphere/wind-down-fps'] = 10. * math.sin(angle2)
fdm.run()
vg = fdm['velocities/vg-fps']
self.assertAlmostEqual(vg, 0.0, delta=1E-7)
vt = fdm['velocities/vt-fps']
self.assertAlmostEqual(vt, 10., delta=1E-7)
mach = vt / fdm['atmosphere/a-fps']
P = fdm['atmosphere/P-psf']
pt = P * math.pow(1+0.2*mach*mach, 3.5)
psl = fdm['atmosphere/P-sl-psf']
rhosl = fdm['atmosphere/rho-sl-slugs_ft3']
A = math.pow((pt-P)/psl+1.0, 1.0/3.5)
alpha = fdm['aero/alpha-rad']
beta = fdm['aero/beta-rad']
vc = math.sqrt(7.0*psl/rhosl*(A-1.0))*math.cos(alpha+pitot_angle)*math.cos(beta)
self.assertAlmostEqual(fdm['velocities/vc-kts'],
max(0.0, vc) / 1.68781, delta=1E-7)
def testSteadyFlight(self):
script_name = 'c1722.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
# Switch the accel on
fdm['fcs/accelerometer/on'] = 1.0
# Use the standard gravity (i.e. GM/r^2)
fdm['simulation/gravity-model'] = 0
# Select an orientation such that frame transformations simplify
fdm['ic/psi-true-rad'] = 0.0
fdm.run_ic()
ExecuteUntil(fdm, 0.1)
fdm['simulation/do_simple_trim'] = 1
r = fdm['position/radius-to-vehicle-ft']
pitch = fdm['attitude/theta-rad']
roll = fdm['attitude/phi-rad']
latitude = fdm['position/lat-gc-rad']
g = fdm['accelerations/gravity-ft_sec2']
omega = 0.00007292115 # Earth rotation rate in rad/sec
fc = r * math.cos(latitude) * omega * omega # Centrifugal force
uvw = np.array(fdm.get_propagate().get_uvw().T)[0]
Omega = omega * np.array([
math.cos(pitch - latitude),
math.sin(pitch - latitude) * math.sin(roll),
math.sin(pitch - latitude) * math.cos(roll)
])
# Compute the acceleration measured by the accelerometer as the sum of
# the gravity and the centrifugal and Coriolis forces.
fa_yz = (fc * math.cos(latitude - pitch) - g * math.cos(pitch))
fa = np.array([(fc * math.sin(latitude - pitch) + g * math.sin(pitch)),
fa_yz * math.sin(roll), fa_yz * math.cos(roll)
]) + np.cross(2.0 * Omega, uvw)
# After the trim we are close to the equilibrium but there remains a
# small residual that we have to take the bias into account
fax = fa[0] + fdm['accelerations/udot-ft_sec2']
fay = fa[1] + fdm['accelerations/vdot-ft_sec2']
faz = fa[2] + fdm['accelerations/wdot-ft_sec2']
# Deltas are relaxed because the tolerances of the trimming algorithm
# are quite relaxed themselves.
self.assertAlmostEqual(fdm['fcs/accelerometer/X'], fax, delta=1E-6)
self.assertAlmostEqual(fdm['fcs/accelerometer/Y'], fay, delta=1E-4)
self.assertAlmostEqual(fdm['fcs/accelerometer/Z'], faz, delta=1E-5)
del fdm
def testChannelRate(self):
os.environ['JSBSIM_DEBUG'] = str(0)
fdm = CreateFDM(self.sandbox)
fdm.load_script(
self.sandbox.path_to_jsbsim_file('scripts',
'systems-rate-test-0.xml'))
fdm.run_ic()
while fdm['simulation/sim-time-sec'] < 30:
fdm.run()
self.assertEqual(fdm['simulation/frame'], fdm['tests/rate-1'])
self.assertEqual(int(fdm['simulation/frame'] / 4),
fdm['tests/rate-4'])
self.assertEqual(fdm['simulation/sim-time-sec'],
fdm['tests/rate-1-dt-sum'])
self.assertAlmostEqual(
fdm['simulation/dt'] * fdm['tests/rate-4'] * 4,
fdm['tests/rate-4-dt-sum'])
self.assertEqual(fdm['simulation/dt'], fdm['tests/rate-1-dt'])
self.assertEqual(fdm['simulation/dt'] * 4, fdm['tests/rate-4-dt'])
try:
fdm['simulation/do_simple_trim'] = 1
except RuntimeError as e:
# The trim cannot succeed. Just make sure that the raised exception
# is due to the trim failure otherwise rethrow.
if e.args[0] != 'Trim Failed':
raise
while fdm['simulation/sim-time-sec'] < 40:
self.assertEqual(fdm['simulation/frame'], fdm['tests/rate-1'])
self.assertEqual(int(fdm['simulation/frame'] / 4),
fdm['tests/rate-4'])
self.assertEqual(fdm['simulation/sim-time-sec'],
fdm['tests/rate-1-dt-sum'])
self.assertAlmostEqual(
fdm['simulation/dt'] * fdm['tests/rate-4'] * 4,
fdm['tests/rate-4-dt-sum'])
fdm.run()
fdm.reset_to_initial_conditions(1)
tf = fdm['tests/rate-1-dt-sum']
xtraFrames = fdm['simulation/frame'] % 4
while fdm['simulation/sim-time-sec'] < 30:
fdm.run()
self.assertEqual(fdm['simulation/frame'], fdm['tests/rate-1'])
self.assertEqual(int((fdm['simulation/frame'] - xtraFrames) / 4),
fdm['tests/rate-4'])
self.assertAlmostEqual(fdm['simulation/sim-time-sec'],
fdm['tests/rate-1-dt-sum'] - tf)
self.assertAlmostEqual(
fdm['simulation/dt'] * fdm['tests/rate-4'] * 4,
fdm['tests/rate-4-dt-sum'])
def testSteadyFlight(self):
script_name = 'c1722.xml'
script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name)
self.AddAccelerometersToAircraft(script_path)
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
# Switch the accel on
fdm['fcs/accelerometer/on'] = 1.0
# Use the standard gravity (i.e. GM/r^2)
fdm['simulation/gravity-model'] = 0
# Select an orientation such that frame transformations simplify
fdm['ic/psi-true-rad'] = 0.0
fdm.run_ic()
ExecuteUntil(fdm, 0.1)
fdm['simulation/do_simple_trim'] = 1
r = fdm['position/radius-to-vehicle-ft']
pitch = fdm['attitude/theta-rad']
roll = fdm['attitude/phi-rad']
latitude = fdm['position/lat-gc-rad']
g = fdm['accelerations/gravity-ft_sec2']
omega = 0.00007292115 # Earth rotation rate in rad/sec
fc = r * math.cos(latitude) * omega * omega # Centrifugal force
uvw = np.array(fdm.get_propagate().get_uvw().T)[0]
Omega = omega * np.array([math.cos(pitch - latitude),
math.sin(pitch - latitude) * math.sin(roll),
math.sin(pitch - latitude) * math.cos(roll)])
# Compute the acceleration measured by the accelerometer as the sum of
# the gravity and the centrifugal and Coriolis forces.
fa_yz = (fc * math.cos(latitude - pitch) - g * math.cos(pitch))
fa = np.array([(fc * math.sin(latitude - pitch) + g * math.sin(pitch)),
fa_yz * math.sin(roll),
fa_yz * math.cos(roll)]) + np.cross(2.0*Omega, uvw)
# After the trim we are close to the equilibrium but there remains a
# small residual that we have to take the bias into account
fax = fa[0] + fdm['accelerations/udot-ft_sec2']
fay = fa[1] + fdm['accelerations/vdot-ft_sec2']
faz = fa[2] + fdm['accelerations/wdot-ft_sec2']
# Deltas are relaxed because the tolerances of the trimming algorithm
# are quite relaxed themselves.
self.assertAlmostEqual(fdm['fcs/accelerometer/X'], fax, delta=1E-6)
self.assertAlmostEqual(fdm['fcs/accelerometer/Y'], fay, delta=1E-4)
self.assertAlmostEqual(fdm['fcs/accelerometer/Z'], faz, delta=1E-5)
del fdm
def testEnginePowerVC(self):
# Check that the same results are obtained whether the engine power
# velocity correction is given in a <table> or <function>
fdm = CreateFDM(self.sandbox)
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts',
'L4102.xml'))
fdm.run_ic()
while fdm.run():
pass
del fdm
ref = pd.read_csv('L410.csv', index_col=0)
tree = et.parse(self.sandbox.path_to_jsbsim_file('engine',
'engtm601.xml'))
# Modify the engine definition to use a <function> rather than a
# <table> component.
root = tree.getroot()
engPowVC_tag = root.find("table/[@name='EnginePowerVC']")
root.remove(engPowVC_tag)
del engPowVC_tag.attrib['name']
func_engPowVC = et.SubElement(root, 'function')
func_engPowVC.attrib['name'] = 'EnginePowerVC'
func_engPowVC.append(engPowVC_tag)
tree.write('engtm601.xml')
# Copy the propeller file.
shutil.copy(self.sandbox.path_to_jsbsim_file('engine', 'vrtule2.xml'),
'.')
self.sandbox.delete_csv_files()
fdm = CreateFDM(self.sandbox)
fdm.set_engine_path('.')
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts',
'L4102.xml'))
fdm.run_ic()
while fdm.run():
pass
current = pd.read_csv('L410.csv', index_col=0)
# Check the data are matching i.e. the time steps are the same between
# the two data sets and that the output data are also the same.
self.assertTrue(isDataMatching(ref, current))
# Find all the data that are differing by more than 1E-5 between the
# two data sets.
diff = FindDifferences(ref, current, 0.0)
self.longMessage = True
self.assertEqual(len(diff), 0, msg='\n'+diff.to_string())
def initFDM(self):
fdm = CreateFDM(self.sandbox)
script_path = self.sandbox.path_to_jsbsim_file('scripts',
'cannonball.xml')
fdm.load_script(script_path)
fdm['simulation/integrator/rate/rotational'] = 5
fdm['simulation/integrator/rate/translational'] = 5
fdm['simulation/integrator/position/rotational'] = 5
fdm['simulation/integrator/position/translational'] = 5
fdm.run_ic()
fdm.set_dt(0.05)
return fdm
def testEnginePowerVC(self):
fdm = CreateFDM(self.sandbox)
fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts',
'L4102.xml'))
fdm.run_ic()
pm = fdm.get_property_manager()
self.assertTrue(pm.hasNode('propulsion/engine[0]/EnginePowerVC'))
self.assertTrue(pm.hasNode('propulsion/engine[1]/EnginePowerVC'))
while fdm.run():
self.assertAlmostEqual(fdm['propulsion/engine[0]/EnginePowerVC'],
fdm['propulsion/engine[1]/EnginePowerVC'])
def test_grain_tanks_content(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts', 'J2460.xml')
tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox)
id = 0
for tank in tree.getroot().findall('propulsion/tank'):
grain_config = tank.find('grain_config')
if grain_config and grain_config.attrib['type'] == 'CYLINDRICAL':
break
++id
capacity = float(tank.find('capacity').text)
tank.find('contents').text = str(0.5*capacity)
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
radius_tag = tank.find('radius')
radius = float(radius_tag.text)
if 'unit' in radius_tag.attrib and radius_tag.attrib['unit'] == 'IN':
radius /= 12.0
bore_diameter_tag = tank.find('grain_config/bore_diameter')
bore_radius = 0.5*float(bore_diameter_tag.text)
if 'unit' in bore_diameter_tag.attrib and bore_diameter_tag.attrib['unit'] == 'IN':
bore_radius /= 12.0
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
fdm.run_ic()
tank_name = 'propulsion/tank[%g]' % (id,)
self.assertAlmostEqual(fdm[tank_name+'/contents-lbs'], 0.5*capacity)
fdm['propulsion/tank/contents-lbs'] = capacity
mass = capacity / 32.174049 # Converting lbs to slugs
ixx = 0.5 * mass * (radius * radius + bore_radius*bore_radius)
self.assertAlmostEqual(fdm[tank_name+'local-ixx-slug_ft2'], ixx)
del fdm
tank.find('contents').text = '0.0'
tree.write(self.sandbox('aircraft', aircraft_name,
aircraft_name+'.xml'))
fdm = CreateFDM(self.sandbox)
fdm.set_aircraft_path('aircraft')
fdm.load_script(script_path)
fdm.run_ic()
self.assertAlmostEqual(fdm[tank_name+'/contents-lbs'], 0.0)
fdm['propulsion/tank/contents-lbs'] = capacity
def test_output_from_file(self):
tree = et.parse(self.sandbox.elude(self.script_path))
output_tag = et.SubElement(tree.getroot(), 'output')
output_tag.attrib['file'] = self.sandbox.elude(self.sandbox.path_to_jsbsim_file('tests', 'output.xml'))
tree.write(self.sandbox('c1722_0.xml'))
fdm = CreateFDM(self.sandbox)
fdm.load_script('c1722_0.xml')
fdm.run_ic()
ExecuteUntil(fdm, 10.)
self.assertTrue(self.sandbox.exists('output.csv'),
msg="The file 'output.csv' has not been created")
def test_script_input(self):
tree = et.parse(self.sandbox.elude(self.script_path))
input_tag = et.SubElement(tree.getroot(), 'input')
input_tag.attrib['port'] = '1138'
tree.write(self.sandbox('c1722_1.xml'))
fdm = CreateFDM(self.sandbox)
fdm.load_script('c1722_1.xml')
fdm.run_ic()
fdm.hold()
tn = TelnetInterface(fdm, 5., 1138)
self.sanityCheck(tn)
