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SITL: provide simulation timestamp from JSBSim

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This commit is contained in:
Andrew Tridgell 2015-03-24 08:03:18 -07:00
parent 0c2232a4be
commit 38e9bd5336
1 changed files with 10 additions and 3 deletions
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13
Tools/autotest/jsbsim/runsim.py
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@ -118,11 +118,12 @@ def update_wind(wind):
(speed, direction) = wind.current()
jsb_set('atmosphere/psiw-rad', math.radians(direction))
jsb_set('atmosphere/wind-mag-fps', speed/0.3048)
first_timestamp = None
def process_jsb_input(buf):
'''process FG FDM input from JSBSim'''
global fdm, fg_out, sim_out
global fdm, fg_out, sim_out, first_timestamp
fdm.parse(buf)
if fg_out:
try:
@ -134,7 +135,13 @@ def process_jsb_input(buf):
if e.errno not in [ errno.ECONNREFUSED ]:
raise
simbuf = struct.pack('<17dI',
cur_time = fdm.get('cur_time', units='seconds')
if first_timestamp is None:
first_timestamp = cur_time
timestamp = int((cur_time - first_timestamp)*1.0e6)
simbuf = struct.pack('<Q17dI',
timestamp,
fdm.get('latitude', units='degrees'),
fdm.get('longitude', units='degrees'),
fdm.get('altitude', units='meters'),