def test_fill_accelerometer_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_accelerometer_data(sensor_data_response)
self.assertAlmostEqual(sensor_data_response.accelerometer.x,
aircraft.sensors.accelerometer.x)
self.assertAlmostEqual(sensor_data_response.accelerometer.y,
aircraft.sensors.accelerometer.y)
self.assertAlmostEqual(sensor_data_response.accelerometer.z,
aircraft.sensors.accelerometer.z)
self.assertEqual(sensor_data_response.type,
fdm_pb2.ACCELEROMETER_REQUEST)
def test_datagram_received(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
controls_protocol = ControlsProtocol(fdmexec)
aileron = 0.1
elevator = 0.2
rudder = 0.3
throttle = 0.4
controls = fdm_pb2.Controls()
controls.aileron = aileron
controls.elevator = elevator
controls.rudder = rudder
controls.throttle = throttle
controls_datagram = controls.SerializeToString()
host = "127.0.0.1"
port = 12345
controls_protocol.datagramReceived(controls_datagram, (host, port))
self.assertAlmostEqual(aircraft.controls.aileron, aileron, 3)
self.assertAlmostEqual(aircraft.controls.elevator, elevator, 3)
self.assertAlmostEqual(aircraft.controls.rudder, rudder, 3)
self.assertAlmostEqual(aircraft.controls.throttle, throttle, 3)
def test_fill_gps_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_gps_data(sensor_data_response)
self.assertAlmostEqual(sensor_data_response.gps.latitude,
aircraft.instruments.gps.latitude)
self.assertAlmostEqual(sensor_data_response.gps.longitude,
aircraft.instruments.gps.longitude)
self.assertAlmostEqual(sensor_data_response.gps.altitude,
aircraft.instruments.gps.altitude)
self.assertAlmostEqual(sensor_data_response.gps.airspeed,
aircraft.instruments.gps.airspeed)
self.assertAlmostEqual(sensor_data_response.gps.heading,
aircraft.instruments.gps.heading)
self.assertEqual(sensor_data_response.type, fdm_pb2.GPS_REQUEST)
def test_accelerometer(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdmexec = fdm_builder.create_fdm()
accelerometer = Accelerometer(fdmexec)
self.assertAlmostEqual(
accelerometer.true_x,
convert_jsbsim_acceleration(
fdmexec.GetAuxiliary().GetPilotAccel(1)), 3)
self.assertAlmostEqual(
accelerometer.true_y,
convert_jsbsim_acceleration(
fdmexec.GetAuxiliary().GetPilotAccel(2)), 3)
self.assertAlmostEqual(
accelerometer.true_z,
convert_jsbsim_acceleration(
fdmexec.GetAuxiliary().GetPilotAccel(3)), 3)
self.assertAlmostEqual(
accelerometer.x,
accelerometer.true_x + accelerometer.x_measurement_noise, 3)
self.assertAlmostEqual(
accelerometer.y,
accelerometer.true_y + accelerometer.y_measurement_noise, 3)
self.assertAlmostEqual(
accelerometer.z,
accelerometer.true_z + accelerometer.z_measurement_noise, 3)
def test_get_atmospheric_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdmexec = fdm_builder.create_fdm()
atmosphere = Atmosphere(fdmexec)
self.assertAlmostEqual(
atmosphere.pressure,
convert_jsbsim_pressure(fdmexec.GetAtmosphere().GetPressure()), 3)
self.assertAlmostEqual(
atmosphere.sea_level_pressure,
convert_jsbsim_pressure(fdmexec.GetAtmosphere().GetPressureSL()),
3)
self.assertAlmostEqual(
atmosphere.temperature,
convert_jsbsim_temperature(
fdmexec.GetAtmosphere().GetTemperature()), 3)
self.assertAlmostEqual(
atmosphere.sea_level_temperature,
convert_jsbsim_temperature(
fdmexec.GetAtmosphere().GetTemperatureSL()), 3)
self.assertAlmostEqual(
atmosphere.density,
convert_jsbsim_density(fdmexec.GetAtmosphere().GetDensity()), 3)
self.assertAlmostEqual(
atmosphere.sea_level_density,
convert_jsbsim_density(fdmexec.GetAtmosphere().GetDensitySL()), 3)
def test_accelerometer_bias_and_noise_modification_updates(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdmexec = fdm_builder.create_fdm()
accelerometer = Accelerometer(fdmexec)
accelerometer._x_measurement_noise = 0.0
fdmexec.Run()
self.assertEqual(accelerometer.x_measurement_noise, 0.0)
#make sure the model is not paused
fdmexec.Resume()
run_until = fdmexec.GetSimTime() + (1.0 /
accelerometer.update_rate) + 1.0
while fdmexec.GetSimTime() < run_until:
fdmexec.Run()
#self.assertAlmostEqual(accelerometer.x, accelerometer.true_x + accelerometer._x_measurement_noise, 3)
self.assertNotEqual(accelerometer.x_measurement_noise, 0.0)
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_gyroscope(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
gyroscope = Gyroscope(fdmexec)
self.assertAlmostEqual(gyroscope.true_roll_rate,
math.degrees(fdmexec.GetPropagate().GetPQR(1)),
3)
self.assertAlmostEqual(gyroscope.true_pitch_rate,
math.degrees(fdmexec.GetPropagate().GetPQR(2)),
3)
self.assertAlmostEqual(gyroscope.true_yaw_rate,
math.degrees(fdmexec.GetPropagate().GetPQR(3)),
3)
self.assertAlmostEqual(
gyroscope.roll_rate,
gyroscope.true_roll_rate + gyroscope._roll_rate_measurement_noise,
3)
self.assertAlmostEqual(
gyroscope.pitch_rate, gyroscope.true_pitch_rate +
gyroscope._pitch_rate_measurement_noise, 3)
self.assertAlmostEqual(
gyroscope.yaw_rate,
gyroscope.true_yaw_rate + gyroscope._yaw_rate_measurement_noise, 3)
def main():
args = get_arguments()
logger = initialize_logger(args.log, args.debug)
logger.info("Starting the Huginn flight simulator")
huginn_data_path = configuration.get_data_path()
logger.debug("Selected trim mode is %s", args.trim)
if args.paused:
logger.info("The simulator will start paused")
simulator_builder = SimulationBuilder(huginn_data_path)
simulator_builder.trim_mode = TRIM_MODES[args.trim]
simulator_builder.dt = args.dt
simulator_builder.latitude = args.latitude
simulator_builder.longitude = args.longitude
simulator_builder.altitude = args.altitude
simulator_builder.airspeed = args.airspeed
simulator_builder.heading = args.heading
simulator_builder.start_paused = args.paused
logger.debug("Creating the simulator")
simulator = simulator_builder.create_simulator()
if not simulator:
logger.error("Failed to create the simulator using the aircraft "
"model '%s'", args.aircraft)
exit(1)
initialize_controls_server(reactor, simulator.fdmexec, args.controls)
initialize_simulator_data_server(reactor, simulator, args.fdm)
db = create_database()
initialize_websocket_server(
reactor,
simulator,
configuration.WEBSOCKET_HOST,
configuration.WEBSOCKET_PORT,
db
)
initialize_web_server(reactor, simulator, args.web, db)
def run_simulator():
result = simulator.run()
if not result:
logger.error("The simulator has failed to run")
reactor.stop()
fdm_updater = LoopingCall(run_simulator)
fdm_updater.start(args.dt)
logger.debug("starting the simulator server")
reactor.run()
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_get_object_resource_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdmexec = fdm_builder.create_fdm()
accelerations = Accelerations(fdmexec)
accelerations_schema = AccelerationsSchema()
object_resource = ObjectResource(accelerations, accelerations_schema)
response = object_resource.get()
expected_result = {
"x": accelerations.x,
"y": accelerations.y,
"z": accelerations.z,
"p_dot": accelerations.p_dot,
"q_dot": accelerations.q_dot,
"r_dot": accelerations.r_dot,
"u_dot": accelerations.u_dot,
"v_dot": accelerations.v_dot,
"w_dot": accelerations.w_dot,
"gravity": accelerations.gravity
}
self.assertDictEqual(response, expected_result)
def test_update_initial_condition(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdmexec = fdm_builder.create_fdm()
ic_resource = InitialConditionResource(fdmexec)
new_ic = {
"latitude": 10.0,
"longitude": 20.0,
"altitude": 150.0,
"airspeed": 60.0,
"heading": 90.0
}
ic_resource.update_initial_conditions(new_ic)
response = ic_resource.get()
self.assertAlmostEqual(response["latitude"], 10.0, 3)
self.assertAlmostEqual(response["longitude"], 20.0, 3)
self.assertAlmostEqual(response["altitude"], 150.0, 3)
self.assertAlmostEqual(response["airspeed"], 60.0, 3)
self.assertAlmostEqual(response["heading"], 90.0, 3)
def test_fill_gyroscope_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_gyroscope_data(sensor_data_response)
self.assertAlmostEqual(sensor_data_response.gyroscope.roll_rate,
aircraft.sensors.gyroscope.roll_rate)
self.assertAlmostEqual(sensor_data_response.gyroscope.pitch_rate,
aircraft.sensors.gyroscope.pitch_rate)
self.assertAlmostEqual(sensor_data_response.gyroscope.yaw_rate,
aircraft.sensors.gyroscope.yaw_rate)
self.assertEqual(sensor_data_response.type, fdm_pb2.GYROSCOPE_REQUEST)
def test_create_fdmexec(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm = fdm_builder.create_fdm()
self.assertIsNotNone(fdm)
self.assertEqual(fdm.GetSimTime(), 0.0)
self.assertEqual(fdm.GetDeltaT(), configuration.DT)
self.assertAlmostEqual(fdm.GetIC().GetLatitudeDegIC(),
configuration.LATITUDE, 3)
self.assertAlmostEqual(fdm.GetIC().GetLongitudeDegIC(),
configuration.LONGITUDE, 3)
self.assertAlmostEqual(fdm.GetIC().GetPsiDegIC(),
configuration.HEADING, 3)
altitude = configuration.ALTITUDE * ur.meter
altitude.ito(ur.foot)
altitude_in_feet = altitude.magnitude
self.assertAlmostEqual(fdm.GetIC().GetAltitudeASLFtIC(),
altitude_in_feet, 3)
airspeed = configuration.AIRSPEED * ur.meters_per_second
airspeed.ito(ur.knot)
airspeed_in_knots = airspeed.magnitude
self.assertAlmostEqual(fdm.GetIC().GetVtrueKtsIC(), airspeed_in_knots,
3)
def test_handle_sensor_data_request(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
protocol.send_response_string = MagicMock()
sensor_data_request = fdm_pb2.SensorDataRequest()
sensor_data_request.type = fdm_pb2.GPS_REQUEST
protocol.handle_sensor_data_request(sensor_data_request)
expected_sensor_data_response = fdm_pb2.SensorDataResponse()
expected_sensor_data_response.type = fdm_pb2.GPS_REQUEST
expected_sensor_data_response.gps.latitude = aircraft.instruments.gps.latitude
expected_sensor_data_response.gps.longitude = aircraft.instruments.gps.longitude
expected_sensor_data_response.gps.altitude = aircraft.instruments.gps.altitude
expected_sensor_data_response.gps.airspeed = aircraft.instruments.gps.airspeed
expected_sensor_data_response.gps.heading = aircraft.instruments.gps.heading
protocol.send_response_string.assert_called_once_with(
expected_sensor_data_response.SerializeToString())
def test_fill_ins_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_ins_data(sensor_data_response)
self.assertAlmostEqual(
sensor_data_response.ins.roll,
aircraft.sensors.inertial_navigation_system.roll)
self.assertAlmostEqual(
sensor_data_response.ins.pitch,
aircraft.sensors.inertial_navigation_system.pitch)
self.assertEqual(sensor_data_response.type, fdm_pb2.INS_REQUEST)
def test_fill_controls_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_controls_data(sensor_data_response)
self.assertAlmostEqual(sensor_data_response.controls.aileron,
aircraft.controls.aileron)
self.assertAlmostEqual(sensor_data_response.controls.elevator,
aircraft.controls.elevator)
self.assertAlmostEqual(sensor_data_response.controls.rudder,
aircraft.controls.rudder)
self.assertAlmostEqual(sensor_data_response.controls.throttle,
aircraft.controls.throttle)
self.assertEqual(sensor_data_response.type, fdm_pb2.CONTROLS_REQUEST)
def test_ins_meaurement_noise_update(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)
ins._roll_measurement_noise = 0.0
ins._pitch_measurement_noise = 0.0
ins._heading_measurement_noise = 0.0
ins._latitude_measurement_noise = 0.0
ins._longitude_measurement_noise = 0.0
ins._altitude_measurement_noise = 0.0
ins._airspeed_measurement_noise = 0.0
fdmexec.Run()
self.assertEqual(ins._roll_measurement_noise, 0.0)
self.assertEqual(ins.roll_measurement_noise, 0.0)
self.assertEqual(ins._pitch_measurement_noise, 0.0)
self.assertEqual(ins.pitch_measurement_noise, 0.0)
self.assertEqual(ins._heading_measurement_noise, 0.0)
self.assertEqual(ins.heading_measurement_noise, 0.0)
self.assertEqual(ins._latitude_measurement_noise, 0.0)
self.assertEqual(ins.latitude_measurement_noise, 0.0)
self.assertEqual(ins._longitude_measurement_noise, 0.0)
self.assertEqual(ins.longitude_measurement_noise, 0.0)
self.assertEqual(ins._airspeed_measurement_noise, 0.0)
self.assertEqual(ins.airspeed_measurement_noise, 0.0)
self.assertEqual(ins._altitude_measurement_noise, 0.0)
self.assertEqual(ins.altitude_measurement_noise, 0.0)
run_until = fdmexec.GetSimTime() + (1.0 / ins.update_rate) + 1.0
while fdmexec.GetSimTime() < run_until:
fdmexec.Run()
self.assertNotEqual(ins.roll_measurement_noise, 0.0)
self.assertEqual(ins._roll_measurement_noise,
ins.roll_measurement_noise)
self.assertNotEqual(ins.pitch_measurement_noise, 0.0)
self.assertEqual(ins._pitch_measurement_noise,
ins.pitch_measurement_noise)
self.assertNotEqual(ins.heading_measurement_noise, 0.0)
self.assertEqual(ins._heading_measurement_noise,
ins.heading_measurement_noise)
self.assertNotEqual(ins.latitude_measurement_noise, 0.0)
self.assertEqual(ins._latitude_measurement_noise,
ins.latitude_measurement_noise)
self.assertNotEqual(ins.longitude_measurement_noise, 0.0)
self.assertEqual(ins._longitude_measurement_noise,
ins.longitude_measurement_noise)
self.assertNotEqual(ins.altitude_measurement_noise, 0.0)
self.assertEqual(ins._altitude_measurement_noise,
ins.altitude_measurement_noise)
self.assertNotEqual(ins.airspeed_measurement_noise, 0.0)
self.assertEqual(ins._airspeed_measurement_noise,
ins.airspeed_measurement_noise)
def main():
args = get_arguments()
logger = initialize_logger(args.log, args.debug)
logger.info("Starting the Huginn flight simulator")
huginn_data_path = configuration.get_data_path()
logger.debug("Selected trim mode is %s", args.trim)
if args.paused:
logger.info("The simulator will start paused")
simulator_builder = SimulationBuilder(huginn_data_path)
simulator_builder.trim_mode = TRIM_MODES[args.trim]
simulator_builder.dt = args.dt
simulator_builder.latitude = args.latitude
simulator_builder.longitude = args.longitude
simulator_builder.altitude = args.altitude
simulator_builder.airspeed = args.airspeed
simulator_builder.heading = args.heading
simulator_builder.start_paused = args.paused
logger.debug("Creating the simulator")
simulator = simulator_builder.create_simulator()
if not simulator:
logger.error(
"Failed to create the simulator using the aircraft "
"model '%s'", args.aircraft)
exit(1)
initialize_controls_server(reactor, simulator.fdmexec, args.controls)
initialize_simulator_data_server(reactor, simulator, args.fdm)
db = create_database()
initialize_websocket_server(reactor, simulator,
configuration.WEBSOCKET_HOST,
configuration.WEBSOCKET_PORT, db)
initialize_web_server(reactor, simulator, args.web, db)
def run_simulator():
result = simulator.run()
if not result:
logger.error("The simulator has failed to run")
reactor.stop()
fdm_updater = LoopingCall(run_simulator)
fdm_updater.start(args.dt)
logger.debug("starting the simulator server")
reactor.run()
def test_create_simulation(self):
huginn_data_path = configuration.get_data_path()
simulation_builder = SimulationBuilder(huginn_data_path)
simulator = simulation_builder.create_simulator()
self.assertIsNotNone(simulator)
self.assertEqual(simulator.simulation_time, configuration.DT)
self.assertFalse(simulator.is_paused())
def test_get_heading_indicator_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdmexec = fdm_builder.create_fdm()
heading_indicator = HeadingIndicator(fdmexec)
orientation = Orientation(fdmexec)
self.assertAlmostEqual(heading_indicator.heading, orientation.psi, 3)
def test_engine(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
engine = Engine(fdmexec)
self.assertAlmostEqual(engine.thrust, convert_jsbsim_force(fdmexec.GetPropulsion().GetEngine(0).GetThruster().GetThrust()))
self.assertAlmostEqual(engine.throttle, fdmexec.GetFCS().GetThrottleCmd(0))
def test_set_rudder(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
fdmexec.GetFCS().SetDrCmd(0.178)
self.assertAlmostEqual(aircraft.controls.rudder, 0.178, 0.0)
def test_set_throttle(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
fdmexec.GetFCS().SetThrottleCmd(0, 0.198)
self.assertAlmostEqual(aircraft.controls.throttle, 0.198)
def test_step(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
simulator = Simulator(fdmexec)
result = simulator.step()
self.assertTrue(result)
def test_pitot_tube(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.pitot_tube.true_pressure,
convert_jsbsim_pressure(fdmexec.GetAuxiliary().GetTotalPressure()))
def test_presure_sensor(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.pressure_sensor.true_pressure,
convert_jsbsim_pressure(fdmexec.GetAtmosphere().GetPressure()))
def test_get_attitude_indicator_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdmexec = fdm_builder.create_fdm()
attitude_indicator = AttitudeIndicator(fdmexec)
orientation = Orientation(fdmexec)
self.assertAlmostEqual(attitude_indicator.roll, orientation.phi, 3)
self.assertAlmostEqual(attitude_indicator.pitch, orientation.theta, 3)
def test_get_climb_rate(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdmexec = fdm_builder.create_fdm()
vertical_speed_indicator = VerticalSpeedIndicator(fdmexec)
vertical_speed_indicator_resource = VerticalSpeedIndicatorResource(vertical_speed_indicator)
response = vertical_speed_indicator_resource.get()
self.assertAlmostEqual(response["climb_rate"], vertical_speed_indicator.climb_rate, 3)
def test_get_heading_indicator_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdmexec = fdm_builder.create_fdm()
heading_indicator = HeadingIndicator(fdmexec)
heading_indicator_resource = HeadingIndicatorResource(heading_indicator)
response = heading_indicator_resource.get()
self.assertAlmostEqual(response["heading"], heading_indicator.heading, 3)
def test_get_airspeed(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdmexec = fdm_builder.create_fdm()
airspeed_indicator = AirspeedIndicator(fdmexec)
airspeed_indicator_resource = AirspeedIndicatorResource(airspeed_indicator)
response = airspeed_indicator_resource.get()
self.assertAlmostEqual(response["airspeed"], airspeed_indicator.airspeed, 3)