def __init__(self, aircraft_name="A320", init_conditions=None, jsbsim_freq=60, agent_interaction_steps=5):
"""
Constructor. Creates an instance of JSBSim, loads an aircraft and sets initial conditions.
:param aircraft_name: name of aircraft to be loaded.
JSBSim looks for file '\model_name\model_name.xml' from root dir.
:param init_conditions: dict mapping properties to their initial values.
Defaults to None, causing a default set of initial props to be used.
:param jsbsim_freq: JSBSim integration frequency
:param agent_interaction_steps: simulation steps before the agent interact
"""
self.jsbsim_exec = jsbsim.FGFDMExec(environ['JSBSIM_ROOT_DIR'])
self.jsbsim_exec.set_debug_level(0) # requests JSBSim not to output any messages whatsoever
self.jsbsim_exec.load_model(aircraft_name)
# collect all jsbsim properties in Catalog
Catalog.add_jsbsim_props(self.jsbsim_exec.query_property_catalog(''))
# set jsbsim integration time step
dt = 1 / jsbsim_freq
self.jsbsim_exec.set_dt(dt)
self.agent_interaction_steps = agent_interaction_steps
self.initialise(init_conditions)
def __init__(self,
sim_frequency_hz: float = 60.0,
aircraft: Aircraft = f16,
init_conditions: Dict[prp.Property, float] = None):
"""
Constructor. Creates an instance of JSBSim and sets initial conditions.
:param sim_frequency_hz: the JSBSim integration frequency in Hz.
:param aircraft: name of aircraft to be loaded.
JSBSim looks for file \\model_name\\model_name.xml from root dir.
:param init_conditions: dict mapping properties to their initial values.
Defaults to None, causing a default set of initial props to be used.
"""
self.jsbsim = jsbsim.FGFDMExec(root_dir=self.JSBSIM_ROOT_DIR)
self.jsbsim.set_debug_level(0)
with open('config.yml', 'r') as file:
configurations = yaml.safe_load(file)
if configurations['general']['flightgear'] == 'true':
self.jsbsim.enable_output()
else:
self.jsbsim.disable_output()
self.sim_dt = 1.0 / sim_frequency_hz
self.aircraft = aircraft
self.initialise(self.sim_dt, self.aircraft.jsbsim_id, init_conditions)
self.wall_clock_dt = None
def __init__(self,
sim_frequency_hz: float = 60.0,
aircraft: Aircraft = f16,
init_conditions: Dict[prp.Property, float] = None,
allow_flightgear_output: bool = True):
"""
Constructor. Creates an instance of JSBSim and sets initial conditions.
:param sim_frequency_hz: the JSBSim integration frequency in Hz.
:param aircraft_model_name: name of aircraft to be loaded.
JSBSim looks for file \model_name\model_name.xml from root dir.
:param init_conditions: dict mapping properties to their initial values.
Defaults to None, causing a default set of initial props to be used.
:param allow_flightgear_output: bool, loads a config file instructing
JSBSim to connect to an output socket if True.
"""
self.jsbsim = jsbsim.FGFDMExec(root_dir=self.ROOT_DIR)
self.jsbsim.set_debug_level(0)
if allow_flightgear_output:
flightgear_output_config = os.path.join(
os.path.dirname(os.path.abspath(__file__)), self.OUTPUT_FILE)
self.jsbsim.set_output_directive(flightgear_output_config)
self.sim_dt = 1.0 / sim_frequency_hz
self.aircraft = aircraft
self.initialise(self.sim_dt, self.aircraft.jsbsim_id, init_conditions)
self.jsbsim.disable_output()
self.wall_clock_dt = None
def __init__(self,
sim_frequency_hz: float = 60.0,
aircraft: Aircraft = cessna172P,
init_conditions: Dict['prp.Property', float] = None,
allow_flightgear_output: bool = True):
"""
Constructor. Creates an instance of JSBSim and sets initial conditions.
:param sim_frequency_hz: the JSBSim integration frequency in Hz.
:param aircraft_model_name: name of aircraft to be loaded.
JSBSim looks for file \model_name\model_name.xml from root dir.
:param init_conditions: dict mapping properties to their initial values.
Defaults to None, causing a default set of initial props to be used.
:param allow_flightgear_output: bool, loads a config file instructing
JSBSim to connect to an output socket if True.
"""
self.jsbsim = jsbsim.FGFDMExec(root_dir=self.ROOT_DIR)
self.jsbsim.set_debug_level(0)
if allow_flightgear_output:
#TODO: if called multiple times, a file descriptor is leaked here for the output specified in the xml
#on file descriptors see: https://www.cyberciti.biz/tips/linux-procfs-file-descriptors.html
flightgear_output_config = os.path.join(
os.path.dirname(os.path.abspath(__file__)), self.OUTPUT_FILE)
self.jsbsim.set_output_directive(flightgear_output_config)
self.sim_dt = 1.0 / sim_frequency_hz
self.aircraft = aircraft
self.initialise(self.sim_dt, self.aircraft.jsbsim_id, init_conditions)
self.jsbsim.disable_output()
self.wall_clock_dt = None
def CreateFDM(sandbox, pm=None):
_fdm = jsbsim.FGFDMExec(os.path.join(sandbox(), ''), pm)
path = sandbox.path_to_jsbsim_file()
_fdm.set_aircraft_path(os.path.join(path, 'aircraft'))
_fdm.set_engine_path(os.path.join(path, 'engine'))
_fdm.set_systems_path(os.path.join(path, 'systems'))
return _fdm
def trim(aircraft, ic, design_vector, x0, verbose, cost=None, **kwargs):
root = Path('.').resolve()
fdm = jsbsim.FGFDMExec(
str(root)
) # The path supplied to FGFDMExec is the location of the folders "aircraft", "engines" and "systems"
fdm.set_debug_level(0)
fdm.load_model(aircraft)
# set location
set_location_purdue_airport(fdm)
fdm_props = fdm.get_property_catalog('')
for key in design_vector + list(ic.keys()):
if key not in fdm_props.keys():
raise KeyError(key)
if cost is None:
def cost(fdm):
# compute cost, force moment balance
udot = fdm['accelerations/udot-ft_sec2']
vdot = fdm['accelerations/vdot-ft_sec2']
wdot = fdm['accelerations/wdot-ft_sec2']
pdot = fdm['accelerations/pdot-rad_sec2']
qdot = fdm['accelerations/qdot-rad_sec2']
rdot = fdm['accelerations/rdot-rad_sec2']
return udot**2 + vdot**2 + wdot**2 + pdot**2 + qdot**2 + rdot**2
# cost function for trimming
def trim_cost(fdm, xd):
# set initial condition
for var in ic.keys():
fdm[var] = ic[var]
# set design vector
for i, var in enumerate(design_vector):
fdm[var] = xd[i]
# trim propulsion
prop = fdm.get_propulsion()
prop.init_running(-1)
# set initial conditions
fdm.run_ic()
return cost(fdm)
res = scipy.optimize.minimize(fun=lambda xd: trim_cost(fdm, xd),
x0=x0,
**kwargs)
if verbose:
print(res)
for i, var in enumerate(design_vector):
ic[var] = res['x'][i]
return ic, fdm, res
def __init__(self, sim_dt):
path = os.path.dirname(os.path.realpath(__file__))
self.sim = jsbsim.FGFDMExec(
root_dir=os.path.join(path, self.JSBSIM_DIR))
self.sim.set_debug_level(0)
self.pos = (0, 0, 0)
self.time: int = 0
self.sim_dt = sim_dt
self.initialise(self.sim_dt, self.AIRCRAFT, None)
self.wall_clock_dt = None
self.output_enabled = False
self.sim.disable_output()
def __init__(self,
configuration_file: str = config.DEFAULT_CONFIGURATION_FILE):
self.configuration = toml.load(os.path.expanduser(configuration_file))
self.jsbsim = jsbsim.FGFDMExec(
os.path.expanduser(
self.configuration['simulation']['path_jsbsim']))
self.jsbsim.set_debug_level(0)
self.sim_dt = 1.0 / self.configuration['simulation']['jsbsim_dt_hz']
self.wall_clock_dt = 0
aircraft = Aircraft(**self.configuration['simulation']['aircraft'])
self.initialise(aircraft)
def __init__(self, model, pathJSB='.', dt=1 / 200):
self.model = model
self.dt = dt
self.pathJSB = pathJSB
self.fdm = jsb.FGFDMExec(pathJSB, None)
self.fdm.load_model(self.model)
self.fdm.set_dt(self.dt)
self.fileLog = []
def __init__(self,
sim_frequency_hz: float = 60.0,
aircraft: Aircraft = x8,
init_conditions: Dict[prp.Property, float] = None,
debug_level: int = 0):
self.fdm = jsbsim.FGFDMExec(root_dir=self.ROOT_DIR)
self.fdm.set_debug_level(debug_level)
self.sim_dt = 1.0 / sim_frequency_hz
self.aircraft = aircraft
self.initialise(self.sim_dt, self.aircraft.jsbsim_id, init_conditions)
self.fdm.disable_output()
self.wall_clock_dt = None
self.client = self.airsim_connect()
def create_fdm(sandbox, pm=None):
"""
A function that starts a jsbsim flight dynamic model and provides a path to each subsystem
:param sandbox: the temp directory created by the Sandbox class
:param pm: adds a relative path to the default sandbox jsbsim directory
:return: the flight dynamic model
"""
_fdm = jsbsim.FGFDMExec(os.path.join(sandbox(), ''), pm)
print('FDM located at:', os.path.join(sandbox(), ''))
path = sandbox.path_to_jsbsim_file()
_fdm.set_aircraft_path(os.path.join(path, 'aircraft'))
_fdm.set_engine_path(os.path.join(path, 'engine'))
_fdm.set_systems_path(os.path.join(path, 'systems'))
return _fdm
def __init__(self, aircraft_name):
self.fdm = jsbsim.FGFDMExec(root_dir='../../')
assert type(aircraft_name) is str
self.fdm.load_model(aircraft_name)
self.fdm.set_property_value("ic/lat-gc-rad", 0.761552988)
self.fdm.set_property_value("ic/long-gc-rad", 0.0239284344)
self.fdm.set_property_value("ic/h-agl-ft", 400)
self.fdm.set_property_value("ic/vc-kts", 30)
#self.fdm.set_property_value("ic/gamma-deg",0)
self.fdm.set_dt(0.01)
self.fdm.do_trim(1)
self.state_vector = self._getstatefromsimulation_()
self.trajectory = AileronRoll(self.state_vector[3],
self.state_vector[5],
self.state_vector[6],
self.state_vector[11])
def __init__(self, aircraft, delt):
self.fdm = jsbsim.FGFDMExec('.')
self.fdm.set_debug_level(0)
self.fdm.load_model(aircraft)
self.fdm.set_dt(delt)
self.fdm.set_property_value("ic/lat-gc-deg", 47.0)
self.fdm.set_property_value("ic/long-gc-deg", 122.0)
self.fdm.set_property_value("ic/h-sl-ft", 2000)
self.fdm.set_property_value("ic/u-fps", 450)
self.fdm.set_property_value("ic/v-fps", 0)
self.fdm.set_property_value("ic/w-fps", 0)
self.fdm.set_property_value("ic/p-rad_sec", 0)
self.fdm.set_property_value("ic/q-rad_sec", 0)
self.fdm.set_property_value("ic/r-rad_sec", 0)
self.fdm.set_property_value("ic/phi-rad", 0)
self.fdm.set_property_value("ic/theta-rad", 1)
self.fdm.set_property_value("ic/psi-true-rad", 0)
self.fdm.set_property_value('propulsion/set-running', -1)
self.fdm.run_ic()
self.ref_state = self.state()
self.next_state = self.state()
def trim(aircraft, ic, design_vector, x0, verbose,
cost=None, eq_constraints=None, tol=1e-6, ftol=None, show=False, **kwargs):
root = Path('.').resolve()
fdm = jsbsim.FGFDMExec(str(root)) # The path supplied to FGFDMExec is the location of the folders "aircraft", "engines" and "systems"
if show:
fdm.set_output_directive(str(root/ 'data_output' / 'flightgear.xml'))
fdm.set_debug_level(0)
fdm.load_model(aircraft)
# set location
set_location_purdue_airport(fdm)
fdm_props = fdm.get_property_catalog('')
for key in design_vector + list(ic.keys()):
if key not in fdm_props.keys():
raise KeyError(key)
if cost is None:
def cost(fdm):
# compute cost, force moment balance
theta = fdm['attitude/theta-rad']
udot = fdm['accelerations/udot-ft_sec2']
vdot = fdm['accelerations/vdot-ft_sec2']
wdot = fdm['accelerations/wdot-ft_sec2']
pdot = fdm['accelerations/pdot-rad_sec2']
qdot = fdm['accelerations/qdot-rad_sec2']
rdot = fdm['accelerations/rdot-rad_sec2']
# (theta < 0) term prevents nose down trim
return udot**2 + vdot**2 + wdot**2 + \
pdot**2 + qdot**2 + rdot**2 + + 1e-3*(theta < 0)
# cost function for trimming
def eval_fdm_func(xd, fdm, ic, fdm_func):
# set initial condition
for var in ic.keys():
fdm[var] = ic[var]
# set design vector
for i, var in enumerate(design_vector):
fdm[var] = xd[i]
# trim propulsion
prop = fdm.get_propulsion()
prop.init_running(-1)
# set initial conditions
fdm.run_ic()
return fdm_func(fdm)
# setup constraints
constraints = []
if eq_constraints is None:
eq_constraints = []
for con in eq_constraints:
constraints.append({
'type': 'eq',
'fun': eval_fdm_func,
'args': (fdm, ic, con)
})
# solve
res = scipy.optimize.minimize(
fun=eval_fdm_func,
args=(fdm, ic, cost), x0=x0,
constraints=constraints, **kwargs)
if verbose:
print(res)
# update ic
for i, var in enumerate(design_vector):
ic[var] = res['x'][i]
if verbose:
for con in constraints:
print('constraint', con['type'], con['fun'](res['x'], *con['args']))
if not res['success'] or ftol is not None and abs(res['fun']) > ftol:
raise RuntimeError('trim failed:\n' + str(res) + '\n' + \
str(fdm.get_property_catalog('acceleration')))
props = fdm.get_property_catalog('')
del fdm
return ic, props
def linearize(aircraft, states, states_deriv, inputs, outputs, ic, dx, n_round=3):
assert len(states_deriv) == len(states)
root = Path('.').resolve()
fdm = jsbsim.FGFDMExec(str(root)) # The path supplied to FGFDMExec is the location of the folders "aircraft", "engines" and "systems"
fdm.set_debug_level(0)
fdm.load_model(aircraft)
fdm_props = fdm.get_property_catalog('')
for key in states + inputs + outputs + list( ic.keys()):
if key not in fdm_props.keys():
raise KeyError(key)
for key in states_deriv:
if key not in fdm_props.keys() and key != 'approximate':
raise KeyError(key)
n = len(states)
p = len(inputs)
m = len(outputs)
def set_ic():
set_location_purdue_airport(fdm)
for key in ic.keys():
fdm[key] = ic[key]
fdm.get_propulsion().init_running(-1)
fdm.run_ic()
A = np.zeros((n, n))
C = np.zeros((m, n))
for i, state in enumerate(states):
set_ic()
start = fdm.get_property_catalog('')
fdm[state] = start[state] + dx
fdm.resume_integration()
fdm.run()
for j, state_deriv in enumerate(states_deriv):
if state_deriv == 'approximate':
A[j, i] = (fdm[states[j]] - start[states[j]])/fdm.get_delta_t()
else:
A[j, i] = (fdm[state_deriv] - start[state_deriv]) / dx
for j, output in enumerate(outputs):
C[j, i] = (fdm[output] - start[output]) / dx
set_ic()
B = np.zeros((n, p))
D = np.zeros((m, p))
for i, inp in enumerate(inputs):
set_ic()
start = fdm.get_property_catalog('')
fdm[inp] = start[inp] + dx
fdm.resume_integration()
fdm.run()
for j, state_deriv in enumerate(states_deriv):
if state_deriv == 'approximate':
B[j, i] = (fdm[states[j]] - start[states[j]])/fdm.get_delta_t()
else:
B[j, i] = (fdm[state_deriv] - start[state_deriv]) / dx
for j, output in enumerate(outputs):
D[j, i] = (fdm[output] - start[output]) / dx
del fdm
A = np.round(A, n_round)
B = np.round(B, n_round)
C = np.round(C, n_round)
D = np.round(D, n_round)
return (A, B, C, D)
def simulate(aircraft, op_0, op_list=None, tf=50, realtime=False, verbose=False):
if op_list is None:
op_list = []
root = Path('.').resolve()
fdm = jsbsim.FGFDMExec(str(root)) # The path supplied to FGFDMExec is the location of the folders "aircraft", "engines" and "systems"
# load model
fdm.load_model(aircraft)
fdm.set_output_directive(str(root/ 'data_output' / 'flightgear.xml'))
fdm_props = fdm.get_property_catalog('')
# add a method to check that properties being set exist
def set_opereating_point(props):
for key in props.keys():
if key not in fdm_props.keys():
raise KeyError(key)
else:
fdm[key] = props[key]
# set location
set_location_purdue_airport(fdm)
# set operating points
set_opereating_point(op_0)
# start engines
prop = fdm.get_propulsion()
prop.init_running(-1)
fdm.run_ic()
# start loop
log = Logger()
nice = True
sleep_nseconds = 500
initial_seconds = time.time()
frame_duration = fdm.get_delta_t()
op_count = 0
result = fdm.run()
low_fuel_warned = False
while result and fdm.get_sim_time() < tf:
t = fdm.get_sim_time()
if op_count < len(op_list) and op_list[op_count][2](fdm):
if verbose:
print('operating point reached: ', op_list[op_count][0])
set_opereating_point(op_list[op_count][1])
op_count += 1
# rough approximation of grade of runway 28 at purdue airport
if fdm['position/distance-from-start-mag-mt'] < 2000:
fdm['position/terrain-elevation-asl-ft'] = 586 + 0.02*fdm['position/distance-from-start-mag-mt']
if realtime:
current_seconds = time.time()
actual_elapsed_time = current_seconds - initial_seconds
sim_lag_time = actual_elapsed_time - fdm.get_sim_time()
for _ in range(int(sim_lag_time / frame_duration)):
result = fdm.run()
current_seconds = time.time()
else:
result = fdm.run()
if nice:
time.sleep(sleep_nseconds / 1000000.0)
if not low_fuel_warned and fdm['propulsion/total-fuel-lbs'] < 10:
print('warning: LOW FUEL {:0.2f} lbs, restart simulation'.format(fdm['propulsion/total-fuel-lbs']))
low_fuel_warned = True
log.new_frame(t, fdm.get_property_catalog(''))
log = log.to_pandas()
del fdm
return log
def simulate(aircraft,
op_0,
op_list=None,
op_times=None,
tf=50,
realtime=False):
if op_list is None:
op_list = []
if op_times is None:
op_times = []
root = Path('.').resolve()
fdm = jsbsim.FGFDMExec(
str(root)
) # The path supplied to FGFDMExec is the location of the folders "aircraft", "engines" and "systems"
# load model
fdm.load_model(aircraft)
fdm.set_output_directive(str(root / 'data_output' / 'flightgear.xml'))
fdm_props = fdm.get_property_catalog('')
# add a method to check that properties being set exist
def set_opereating_point(props):
for key in props.keys():
if key not in fdm_props.keys():
raise KeyError(key)
else:
fdm[key] = props[key]
# set location
set_location_purdue_airport(fdm)
# set operating points
set_opereating_point(op_0)
# start engines
prop = fdm.get_propulsion()
prop.init_running(-1)
fdm.run_ic()
# start loop
log = Logger()
nice = True
sleep_nseconds = 500
initial_seconds = time.time()
frame_duration = fdm.get_delta_t()
op_count = 0
result = fdm.run()
while result and fdm.get_sim_time() < tf:
t = fdm.get_sim_time()
if op_count < len(op_times) and t > op_times[op_count]:
set_opereating_point(op_list[op_count])
op_count += 1
if realtime:
current_seconds = time.time()
actual_elapsed_time = current_seconds - initial_seconds
sim_lag_time = actual_elapsed_time - fdm.get_sim_time()
for _ in range(int(sim_lag_time / frame_duration)):
result = fdm.run()
current_seconds = time.time()
else:
result = fdm.run()
if nice:
time.sleep(sleep_nseconds / 1000000.0)
log.new_frame(t, fdm.get_property_catalog(''))
log = log.to_pandas()
return log
fuelmax = 8097.63
#prepare subplots to overlay plots
fig, ax = plt.subplots(figsize=(10, 8))
#Define here the payloads to be studied
payload = [1500, 15172 / 2, 15172]
#Define here the mass of fuel
fuel = [1000, fuelmax / 2, fuelmax]
#three cases for weight
weight = ["light", "mid", "heavy"]
#put your path here
PATH_TO_JSBSIM_FILES = "../../"
fdm = jsbsim.FGFDMExec(PATH_TO_JSBSIM_FILES)
#get the original CG from aircraft xml
cgOrig = float(changeCG(fdm, 0, True))
#vary CG in the study
cgPos = [cgOrig * 0.95, cgOrig * 1.05]
#vary altitude
h_ft = [8000, 30000]
#run the simulation varying CG, altitude, speed and total weight
#run for different CG's
for j in range(2):
#points to jsbsim executable and make an object
fdm = jsbsim.FGFDMExec(PATH_TO_JSBSIM_FILES)
fdm.load_model('global5000')
import jsbsim
import numpy as np
import matplotlib.pyplot as plt
import keyboard # using module keyboard
from funcinclude import *
# ECEF reference point
lat0 = 47.8303295
lon0 = 16.2562515
alt0 = 0
fdm = jsbsim.FGFDMExec('.', None)
#fdm.load_script('scripts/737_cruise.xml', delta_t=0.1,initfile='cruise_init.xml')
#fdm.load_script('scripts/737_custom.xml', delta_t=0.1,initfile='custom.xml')
fdm.load_model("ogel")
#fdm.load_model("c172p")
#fdm.load_model("trogon")
frame_duration = fdm.get_delta_t()
fdm.set_dt(0.1) # set dt
fdm.set_logging_rate(0.5)
fdm.set_output_filename(0, "testOutTT.csv")
fdm.enable_output()
#fdm.run_ic()
fdm.print_property_catalog() # list avaliable properties
#atm = fdm.get_atmosphere()
#aircraft = fdm.get_aircraft()
args.script = args.input
if root.tag == 'output':
if args.logdirectivefile:
args.logdirectivefile += [args.input]
else:
args.logdirectivefile = [args.input]
if root.tag == 'fdm_config':
if args.aircraft:
print('Two aircraft files are specified.')
sys.exit(1)
else:
args.aircraft = args.input
fdm = jsbsim.FGFDMExec(args.root, None)
if args.script:
fdm.load_script(args.script)
elif args.aircraft:
fdm.load_model(args.aircraft, False)
if args.initfile:
fdm.load_ic(args.initfile, True)
if args.initfile and not args.aircraft:
print("You must specify an initilization file with the aircraft name")
sys.exit(1)
if args.logdirectivefile:
for f in args.logdirectivefile:
if not fdm.set_output_directive(f):
Created on Wed May 6 15:04:25 2020
@author: rega0051
"""
from os import path
import time
import jsbsim as jsb
#%%
# Launch FGFS
#./fgfs_JSBSim.sh UltraStick25e
pathJSB = '.'
fdm = jsb.FGFDMExec(pathJSB, None)
model = 'UltraStick25e'
#%% Setup
fdm.load_model(model)
fdm.set_dt(1 / 200)
# Load IC file
#fileIC = path.join(fdm.get_aircraft_path(), model, 'initCruise.xml')
fdm.load_ic('initCruise.xml', True)
# Setup JSBSim to FlightGear
fdm.set_output_directive(path.join('scripts', 'OutputFgfs.xml'))
# Setup JSBSim Logging
import os
import toml
import jsbsim
configuration = toml.load(
'../config/default_configuration.toml'
) # included: '/Users/######/Programme/jsbsim-code' #an System anpassen.
sim = jsbsim.FGFDMExec(
os.path.expanduser(configuration["simulation"]["path_jsbsim"]))
sim.load_model('c172p')
print(sim.print_property_catalog())