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SITL: JSBSim: Use rate_hz to specify timestep

This commit is contained in:
Rajat Singhal 2019-05-04 17:14:26 +05:30 committed by Andrew Tridgell
parent 732f2e7a2e
commit 2317e73e0b
1 changed files with 10 additions and 7 deletions
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17
libraries/SITL/SIM_JSBSim.cpp
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@ -103,7 +103,7 @@ bool JSBSim::create_templates(void)
" interface on TCP 5124 -->\n"
" <input port=\"%u\"/>\n"
"\n"
" <run start=\"0\" end=\"10000000\" dt=\"0.001\">\n"
" <run start=\"0\" end=\"10000000\" dt=\"%.6f\">\n"
" <property value=\"0\"> simulation/notify-time-trigger </property>\n"
"\n"
" <event name=\"start engine\">\n"
@ -124,7 +124,8 @@ bool JSBSim::create_templates(void)
jsbsim_model,
jsbsim_model,
jsbsim_model,
control_port);
control_port,
1.0/rate_hz);
fclose(f);
f = fopen(jsbsim_fgout, "w");
@ -132,8 +133,8 @@ bool JSBSim::create_templates(void)
AP_HAL::panic("Unable to create jsbsim fgout script %s", jsbsim_fgout);
}
fprintf(f, "<?xml version=\"1.0\"?>\n"
"<output name=\"127.0.0.1\" type=\"FLIGHTGEAR\" port=\"%u\" protocol=\"UDP\" rate=\"1000\"/>\n",
fdm_port);
"<output name=\"127.0.0.1\" type=\"FLIGHTGEAR\" port=\"%u\" protocol=\"UDP\" rate=\"%f\"/>\n",
fdm_port, rate_hz);
fclose(f);
char *jsbsim_reset;
@ -199,10 +200,12 @@ bool JSBSim::start_JSBSim(void)
char *logdirective;
char *script;
char *nice;
char *rate;
asprintf(&logdirective, "--logdirectivefile=%s", jsbsim_fgout);
asprintf(&script, "--script=%s", jsbsim_script);
asprintf(&nice, "--nice=%.8f", 10*1e-9);
asprintf(&rate, "--simulation-rate=%f", rate_hz);
if (chdir(autotest_dir) != 0) {
perror(autotest_dir);
@ -212,7 +215,7 @@ bool JSBSim::start_JSBSim(void)
int ret = execlp("JSBSim",
"JSBSim",
"--suspend",
"--simulation-rate=1000",
rate,
nice,
logdirective,
script,
@ -439,7 +442,7 @@ void JSBSim::recv_fdm(const struct sitl_input &input)
rpm2 = fdm.rpm[1];
// assume 1kHz for now
time_now_us += 1000;
time_now_us += 1e6/rate_hz;
}
void JSBSim::drain_control_socket()
@ -468,7 +471,7 @@ void JSBSim::update(const struct sitl_input &input)
}
send_servos(input);
recv_fdm(input);
adjust_frame_time(1000);
adjust_frame_time(rate_hz);
sync_frame_time();
drain_control_socket();
}