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SITL: make it easier to start ArduPlane SITL at any location 

this generates a jsbsim startup XML file from a template
This commit is contained in:
Andrew Tridgell 2012-08-14 16:51:35 +10:00
parent 93f45f232f
commit b018d7ba77
3 changed files with 25 additions and 13 deletions
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11
Tools/autotest/aircraft/Rascal/reset_template.xml Normal file
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@ -0,0 +1,11 @@
<?xml version="1.0"?>
<initialize name="Start up at Canberra Model Aircraft Club">
<latitude unit="DEG"> %(LATITUDE)s </latitude>
<longitude unit="DEG"> %(LONGITUDE)s </longitude>
<altitude unit="M"> 0 </altitude>
<vt unit="FT/SEC"> 0.0 </vt>
<gamma unit="DEG"> 0.0 </gamma>
<phi unit="DEG"> 0.0 </phi>
<theta unit="DEG"> 0.0 </theta>
<psi unit="DEG"> %(HEADING)s </psi>
</initialize>

2
Tools/autotest/jsbsim/rascal_test.xml
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@ -8,7 +8,7 @@
test ArduPlane using Rascal110 and JSBSim test ArduPlane using Rascal110 and JSBSim
</description> </description>
<use aircraft="Rascal" initialize="reset_CMAC"/> <use aircraft="Rascal" initialize="reset"/>
<!-- we control the servos via the jsbsim console <!-- we control the servos via the jsbsim console
interface on TCP 5124 --> interface on TCP 5124 -->

25
Tools/autotest/jsbsim/runsim.py
View File

@ -31,23 +31,25 @@ def jsb_set(variable, value):
global jsb_console global jsb_console
jsb_console.send('set %s %s\r\n' % (variable, value)) jsb_console.send('set %s %s\r\n' % (variable, value))
def setup_home(home): def setup_template(home):
'''setup home location''' '''setup aircraft/Rascal/reset.xml'''
v = home.split(',') v = home.split(',')
if len(v) != 4: if len(v) != 4:
print("home should be lat,lng,alt,hdg") print("home should be lat,lng,alt,hdg - '%s'" % home)
sys.exit(1) sys.exit(1)
latitude = float(v[0]) latitude = float(v[0])
longitude = float(v[1]) longitude = float(v[1])
altitude = float(v[2]) altitude = float(v[2])
heading = float(v[3]) heading = float(v[3])
sitl_state.ground_height = altitude sitl_state.ground_height = altitude
template = os.path.join('aircraft', 'Rascal', 'reset_template.xml')
jsb_set('position/lat-gc-deg', latitude) reset = os.path.join('aircraft', 'Rascal', 'reset.xml')
jsb_set('position/long-gc-deg', longitude) xml = open(template).read() % { 'LATITUDE' : str(latitude),
jsb_set('attitude/psi-rad', math.radians(heading)) 'LONGITUDE' : str(longitude),
jsb_set('attitude/phi-rad', 0) 'HEADING' : str(heading) }
jsb_set('attitude/theta-rad', 0) open(reset, mode='w').write(xml)
print("Wrote %s" % reset)
def process_sitl_input(buf): def process_sitl_input(buf):
'''process control changes from SITL sim''' '''process control changes from SITL sim'''
@ -142,6 +144,8 @@ os.chdir(util.reltopdir('Tools/autotest'))
# kill off child when we exit # kill off child when we exit
atexit.register(util.pexpect_close_all) atexit.register(util.pexpect_close_all)
setup_template(opts.home)
# start child # start child
cmd = "JSBSim --realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=jsbsim/fgout.xml --script=%s" % opts.script cmd = "JSBSim --realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=jsbsim/fgout.xml --script=%s" % opts.script
if opts.options: if opts.options:
@ -198,9 +202,6 @@ if opts.fgout:
# setup wind generator # setup wind generator
wind = util.Wind(opts.wind) wind = util.Wind(opts.wind)
setup_home(opts.home)
fdm = fgFDM.fgFDM() fdm = fgFDM.fgFDM()
jsb_console.send('info\n') jsb_console.send('info\n')