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SITL: fixed JSBSim backend for latest version

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This commit is contained in:
Willem Eerland 2018-12-17 17:44:07 +11:00 committed by Andrew Tridgell
parent c5a2065a86
commit f8407dd33a
2 changed files with 35 additions and 37 deletions
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6
libraries/SITL/SIM_JSBSim.cpp
View File

@ -141,7 +141,7 @@ bool JSBSim::create_templates(void)
fprintf(f,
"<?xml version=\"1.0\"?>\n"
"<initialize name=\"Start up location\">\n"
" <latitude unit=\"DEG\"> %f </latitude>\n"
" <latitude unit=\"DEG\" type=\"geodetic\"> %f </latitude>\n"
" <longitude unit=\"DEG\"> %f </longitude>\n"
" <altitude unit=\"M\"> 1.3 </altitude>\n"
" <vt unit=\"FT/SEC\"> 0.0 </vt>\n"
@ -291,7 +291,7 @@ bool JSBSim::open_control_socket(void)
char startup[] =
"info\n"
"resume\n"
"step\n"
"iterate 1\n"
"set atmosphere/turb-type 4\n";
sock_control.send(startup, strlen(startup));
return true;
@ -351,7 +351,7 @@ void JSBSim::send_servos(const struct sitl_input &input)
"set atmosphere/wind-mag-fps %f\n"
"set atmosphere/turbulence/milspec/windspeed_at_20ft_AGL-fps %f\n"
"set atmosphere/turbulence/milspec/severity %f\n"
"step\n",
"iterate 1\n",
aileron, elevator, rudder, throttle,
radians(input.wind.direction),
wind_speed_fps,

66
libraries/SITL/SIM_JSBSim.h
View File

@ -99,28 +99,25 @@ public:
double longitude; // geodetic (radians)
double latitude; // geodetic (radians)
double altitude; // above sea level (meters)
float agl; // above ground level (meters)
float phi; // roll (radians)
float theta; // pitch (radians)
float psi; // yaw or true heading (radians)
float alpha; // angle of attack (radians)
float beta; // side slip angle (radians)
float agl; // above ground level (meters)
float phi; // roll (radians)
float theta; // pitch (radians)
float psi; // yaw or true heading (radians)
float alpha; // angle of attack (radians)
float beta; // side slip angle (radians)
// Velocities
float phidot; // roll rate (radians/sec)
float thetadot; // pitch rate (radians/sec)
float psidot; // yaw rate (radians/sec)
float vcas; // calibrated airspeed
float climb_rate; // feet per second
float v_north; // north velocity in local/body frame, fps
float v_east; // east velocity in local/body frame, fps
float v_down; // down/vertical velocity in local/body frame, fps
float v_wind_body_north; // north velocity in local/body frame
// relative to local airmass, fps
float v_wind_body_east; // east velocity in local/body frame
// relative to local airmass, fps
float v_wind_body_down; // down/vertical velocity in local/body
// frame relative to local airmass, fps
float phidot; // roll rate (radians/sec)
float thetadot; // pitch rate (radians/sec)
float psidot; // yaw rate (radians/sec)
float vcas; // calibrated airspeed
float climb_rate; // feet per second
float v_north; // north velocity in local/body frame, fps
float v_east; // east velocity in local/body frame, fps
float v_down; // down/vertical velocity in local/body frame, fps
float v_body_u; // ECEF velocity in body axis
float v_body_v; // ECEF velocity in body axis
float v_body_w; // ECEF velocity in body axis
// Accelerations
float A_X_pilot; // X accel in body frame ft/sec^2
@ -128,26 +125,26 @@ public:
float A_Z_pilot; // Z accel in body frame ft/sec^2
// Stall
float stall_warning; // 0.0 - 1.0 indicating the amount of stall
float slip_deg; // slip ball deflection
float stall_warning; // 0.0 - 1.0 indicating the amount of stall
float slip_deg; // slip ball deflection
// Pressure
// Engine status
uint32_t num_engines; // Number of valid engines
uint32_t eng_state[FG_MAX_ENGINES];// Engine state (off, cranking, running)
float rpm[FG_MAX_ENGINES]; // Engine RPM rev/min
float fuel_flow[FG_MAX_ENGINES]; // Fuel flow gallons/hr
float fuel_px[FG_MAX_ENGINES]; // Fuel pressure psi
float egt[FG_MAX_ENGINES]; // Exhuast gas temp deg F
float cht[FG_MAX_ENGINES]; // Cylinder head temp deg F
float mp_osi[FG_MAX_ENGINES]; // Manifold pressure
float tit[FG_MAX_ENGINES]; // Turbine Inlet Temperature
float oil_temp[FG_MAX_ENGINES]; // Oil temp deg F
float oil_px[FG_MAX_ENGINES]; // Oil pressure psi
uint32_t num_engines; // Number of valid engines
uint32_t eng_state[FG_MAX_ENGINES]; // Engine state (off, cranking, running)
float rpm[FG_MAX_ENGINES]; // Engine RPM rev/min
float fuel_flow[FG_MAX_ENGINES]; // Fuel flow gallons/hr
float fuel_px[FG_MAX_ENGINES]; // Fuel pressure psi
float egt[FG_MAX_ENGINES]; // Exhuast gas temp deg F
float cht[FG_MAX_ENGINES]; // Cylinder head temp deg F
float mp_osi[FG_MAX_ENGINES]; // Manifold pressure
float tit[FG_MAX_ENGINES]; // Turbine Inlet Temperature
float oil_temp[FG_MAX_ENGINES]; // Oil temp deg F
float oil_px[FG_MAX_ENGINES]; // Oil pressure psi
// Consumables
uint32_t num_tanks; // Max number of fuel tanks
uint32_t num_tanks; // Max number of fuel tanks
float fuel_quantity[FG_MAX_TANKS];
// Gear status
@ -175,6 +172,7 @@ public:
float speedbrake;
float spoilers;
// nasty hack .... JSBSim sends in little-endian
void ByteSwap(void);
};