ardupilot/libraries/SITL/SIM_JSBSim.h

179 lines
5.3 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
simulator connection for JSBSim - https://github.com/JSBSim-Team/jsbsim
*/
#pragma once
#include <AP_HAL/utility/Socket.h>
#include "SIM_Aircraft.h"
namespace SITL {
/*
a Jsbsim simulator
*/
class JSBSim : public Aircraft {
public:
JSBSim(const char *home_str, const char *frame_str);
/* update model by one time step */
void update(const struct sitl_input &input) override;
/* static object creator */
static Aircraft *create(const char *home_str, const char *frame_str) {
return new JSBSim(home_str, frame_str);
}
private:
// tcp input control socket to JSBSIm
SocketAPM sock_control;
// UDP packets from JSBSim in fgFDM format
SocketAPM sock_fgfdm;
bool initialised;
uint16_t control_port;
uint16_t fdm_port;
char *jsbsim_script;
char *jsbsim_fgout;
int jsbsim_stdout;
// default JSBSim model
const char *jsbsim_model = "Rascal";
bool created_templates;
bool started_jsbsim;
bool opened_control_socket;
bool opened_fdm_socket;
enum {
FRAME_NORMAL,
FRAME_ELEVON,
FRAME_VTAIL
} frame;
bool create_templates(void);
bool start_JSBSim(void);
bool open_control_socket(void);
bool open_fdm_socket(void);
void send_servos(const struct sitl_input &input);
void recv_fdm(const struct sitl_input &input);
void check_stdout(void);
bool expect(const char *str);
void drain_control_socket();
};
/*
FGNetFDM class from JSBSim
*/
class FGNetFDM {
public:
enum {
FG_MAX_ENGINES = 4,
FG_MAX_WHEELS = 3,
FG_MAX_TANKS = 4
};
uint32_t version; // increment when data values change
uint32_t padding; // padding
// Positions
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)
// 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_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
float A_Y_pilot; // Y accel in body frame ft/sec^2
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
// 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
// Consumables
uint32_t num_tanks; // Max number of fuel tanks
float fuel_quantity[FG_MAX_TANKS];
// Gear status
uint32_t num_wheels;
uint32_t wow[FG_MAX_WHEELS];
float gear_pos[FG_MAX_WHEELS];
float gear_steer[FG_MAX_WHEELS];
float gear_compression[FG_MAX_WHEELS];
// Environment
uint32_t cur_time; // current simulation time of JSBSim
int32_t warp; // offset in seconds to unix time
float visibility; // visibility in meters (for env. effects)
// Control surface positions (normalized values)
float elevator;
float elevator_trim_tab;
float left_flap;
float right_flap;
float left_aileron;
float right_aileron;
float rudder;
float nose_wheel;
float speedbrake;
float spoilers;
// nasty hack .... JSBSim sends in little-endian
void ByteSwap(void);
};
} // namespace SITL