def test_get_fdm_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
fdm = FDM(fdmexec)
resource = FDMResource(fdm, aircraft)
fdm_data = resource.get()
self.assertAlmostEqual(fdm.fdmexec.GetSimTime(), fdm_data["time"], 3)
self.assertAlmostEqual(fdm.fdmexec.GetDeltaT(), fdm_data["dt"], 3)
self.assertAlmostEqual(fdm.position.latitude, fdm_data["latitude"], 3)
self.assertAlmostEqual(fdm.position.longitude, fdm_data["longitude"], 3)
self.assertAlmostEqual(fdm.position.altitude, fdm_data["altitude"], 3)
self.assertAlmostEqual(fdm.velocities.true_airspeed, fdm_data["airspeed"], 3)
self.assertAlmostEqual(fdm.position.heading, fdm_data["heading"], 3)
self.assertAlmostEqual(fdm.accelerations.x, fdm_data["x_acceleration"], 3)
self.assertAlmostEqual(fdm.accelerations.y, fdm_data["y_acceleration"], 3)
self.assertAlmostEqual(fdm.accelerations.z, fdm_data["z_acceleration"], 3)
self.assertAlmostEqual(fdm.velocities.p, fdm_data["roll_rate"], 3)
self.assertAlmostEqual(fdm.velocities.q, fdm_data["pitch_rate"], 3)
self.assertAlmostEqual(fdm.velocities.r, fdm_data["yaw_rate"], 3)
self.assertAlmostEqual(fdm.atmosphere.temperature, fdm_data["temperature"], 3)
self.assertAlmostEqual(fdm.atmosphere.pressure, fdm_data["static_pressure"], 3)
self.assertAlmostEqual(aircraft.sensors.pitot_tube.true_pressure, fdm_data["total_pressure"], 3)
self.assertAlmostEqual(fdm.orientation.phi, fdm_data["roll"], 3)
self.assertAlmostEqual(fdm.orientation.theta, fdm_data["pitch"], 3)
climb_rate = convert_jsbsim_velocity(-fdmexec.GetPropagate().GetVel(3))
self.assertAlmostEqual(climb_rate, fdm_data["climb_rate"], 3)
def test_inertialNavigationSystem(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
sensors = Sensors(fdmexec)
self.assertAlmostEqual(sensors.inertial_navigation_system.true_roll,
fdmexec.GetPropagate().GetEulerDeg(1), 3)
self.assertAlmostEqual(sensors.inertial_navigation_system.true_pitch,
fdmexec.GetPropagate().GetEulerDeg(2), 3)
self.assertAlmostEqual(
sensors.inertial_navigation_system.true_latitude,
fdmexec.GetPropagate().GetLatitudeDeg(), 3)
self.assertAlmostEqual(
sensors.inertial_navigation_system.true_longitude,
fdmexec.GetPropagate().GetLongitudeDeg(), 3)
self.assertAlmostEqual(
sensors.inertial_navigation_system.true_altitude,
fdmexec.GetPropagate().GetAltitudeASLmeters(), 3)
self.assertAlmostEqual(
sensors.inertial_navigation_system.true_airspeed,
convert_jsbsim_velocity(fdmexec.GetAuxiliary().GetVtrueFPS()), 3)
self.assertAlmostEqual(
sensors.inertial_navigation_system.true_heading,
math.degrees(fdmexec.GetPropagate().GetEuler(3)), 3)
def test_convert_velocity(self):
velocity = 1.0
expected_velocity = 0.3048
converted_velocity = convert_jsbsim_velocity(velocity)
self.assertAlmostEqual(converted_velocity, expected_velocity, 3)
def test_accelerations(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
velocities = Velocities(fdmexec)
velocity = fdmexec.GetPropagate().GetPQR(1)
expected_velocity = convert_jsbsim_angular_velocity(velocity)
self.assertAlmostEqual(velocities.p, expected_velocity, 3)
velocity = fdmexec.GetPropagate().GetPQR(2)
expected_velocity = convert_jsbsim_angular_velocity(velocity)
self.assertAlmostEqual(velocities.q, expected_velocity, 3)
velocity = fdmexec.GetPropagate().GetPQR(3)
expected_velocity = convert_jsbsim_angular_velocity(velocity)
self.assertAlmostEqual(velocities.r, expected_velocity, 3)
airspeed = fdmexec.GetAuxiliary().GetVtrueFPS()
expected_airspeed = convert_jsbsim_velocity(airspeed)
self.assertAlmostEqual(velocities.true_airspeed, expected_airspeed, 3)
climb_rate = -fdmexec.GetPropagate().GetVel(3)
expected_climb_rate = convert_jsbsim_velocity(climb_rate)
self.assertAlmostEqual(velocities.climb_rate, expected_climb_rate, 3)
velocity = fdmexec.GetPropagate().GetUVW(1)
expected_velocity = convert_jsbsim_velocity(velocity)
self.assertAlmostEqual(velocities.u, expected_velocity, 3)
velocity = fdmexec.GetPropagate().GetUVW(2)
expected_velocity = convert_jsbsim_velocity(velocity)
self.assertAlmostEqual(velocities.v, expected_velocity, 3)
velocity = fdmexec.GetPropagate().GetUVW(3)
expected_velocity = convert_jsbsim_velocity(velocity)
self.assertAlmostEqual(velocities.w, expected_velocity, 3)
airspeed = fdmexec.GetAuxiliary().GetVcalibratedFPS()
expected_airspeed = convert_jsbsim_velocity(airspeed)
self.assertAlmostEqual(velocities.calibrated_airspeed,
expected_airspeed, 3)
airspeed = fdmexec.GetAuxiliary().GetVequivalentFPS()
expected_airspeed = convert_jsbsim_velocity(airspeed)
self.assertAlmostEqual(velocities.equivalent_airspeed,
expected_airspeed, 3)
def test_inertialNavigationSystem(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
ins = InertialNavigationSystem(fdmexec)
self.assertAlmostEqual(ins.true_roll,
fdmexec.GetPropagate().GetEulerDeg(1), 3)
self.assertAlmostEqual(ins.true_pitch,
fdmexec.GetPropagate().GetEulerDeg(2), 3)
self.assertAlmostEqual(ins.true_latitude,
fdmexec.GetPropagate().GetLatitudeDeg(), 3)
self.assertAlmostEqual(ins.true_longitude,
fdmexec.GetPropagate().GetLongitudeDeg(), 3)
self.assertAlmostEqual(ins.true_altitude,
fdmexec.GetPropagate().GetAltitudeASLmeters(),
3)
self.assertAlmostEqual(
ins.true_airspeed,
convert_jsbsim_velocity(fdmexec.GetAuxiliary().GetVtrueFPS()), 3)
self.assertAlmostEqual(
ins.true_heading, math.degrees(fdmexec.GetPropagate().GetEuler(3)),
3)
self.assertAlmostEqual(ins.roll,
ins.true_roll + ins.roll_measurement_noise, 3)
self.assertAlmostEqual(ins.pitch,
ins.true_pitch + ins.pitch_measurement_noise, 3)
self.assertAlmostEqual(
ins.latitude, ins.true_latitude + ins.latitude_measurement_noise,
3)
self.assertAlmostEqual(
ins.longitude,
ins.true_longitude + ins.longitude_measurement_noise, 3)
self.assertAlmostEqual(
ins.altitude, ins.true_altitude + ins.altitude_measurement_noise,
3)
self.assertAlmostEqual(
ins.airspeed, ins.true_airspeed + ins.airspeed_measurement_noise,
3)
self.assertAlmostEqual(
ins.heading, ins.true_heading + ins.heading_measurement_noise, 3)
def test_gps(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
gps = GPS(fdmexec)
self.assertAlmostEqual(gps.latitude,
fdmexec.GetPropagate().GetLatitudeDeg())
self.assertAlmostEqual(gps.longitude,
fdmexec.GetPropagate().GetLongitudeDeg())
self.assertAlmostEqual(gps.altitude,
fdmexec.GetPropagate().GetAltitudeASLmeters())
self.assertAlmostEqual(
gps.airspeed,
convert_jsbsim_velocity(fdmexec.GetAuxiliary().GetVtrueFPS()))
self.assertAlmostEqual(
gps.heading, math.degrees(fdmexec.GetPropagate().GetEuler(3)))
def ground_speed(self):
"""Returns the ground speed in meters/sec"""
airspeed = self.fdmexec.GetAuxiliary().GetVground()
return convert_jsbsim_velocity(airspeed)
def equivalent_airspeed(self):
"""Returns the equivalent airspeed in meters/sec"""
airspeed = self.fdmexec.GetAuxiliary().GetVequivalentFPS()
return convert_jsbsim_velocity(airspeed)
def calibrated_airspeed(self):
"""Returns the calibrated airspeed in meters/sec"""
airspeed = self.fdmexec.GetAuxiliary().GetVcalibratedFPS()
return convert_jsbsim_velocity(airspeed)
def w(self):
"""Returns the w item of the body frame velocity vector in
meters/sec"""
velocity = self.fdmexec.GetPropagate().GetUVW(3)
return convert_jsbsim_velocity(velocity)
def climb_rate(self):
"""Return the vertical velocity in meters/seconds"""
# climb_rate = self.fdmexec.GetPropertyValue("velocities/v-down-fps")
climb_rate = -self.fdmexec.GetPropagate().GetVel(3)
return convert_jsbsim_velocity(climb_rate)
def true_airspeed(self):
"""Return the true airspeed in meters/second"""
airspeed = self.fdmexec.GetAuxiliary().GetVtrueFPS()
return convert_jsbsim_velocity(airspeed)
