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1 : /* 2 : This program is free software: you can redistribute it and/or modify 3 : it under the terms of the GNU General Public License as published by 4 : the Free Software Foundation, either version 3 of the License, or 5 : (at your option) any later version. 6 : 7 : This program is distributed in the hope that it will be useful, 8 : but WITHOUT ANY WARRANTY; without even the implied warranty of 9 : MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 10 : GNU General Public License for more details. 11 : 12 : You should have received a copy of the GNU General Public License 13 : along with this program. If not, see <http://www.gnu.org/licenses/>. 14 : */ 15 : /* 16 : simulator connection for JSBSim - https://github.com/JSBSim-Team/jsbsim 17 : */ 18 : 19 : #pragma once 20 : 21 : #include "SIM_config.h" 22 : 23 : #if AP_SIM_JSBSIM_ENABLED 24 : 25 : #include <AP_HAL/utility/Socket_native.h> 26 : 27 : #include "SIM_Aircraft.h" 28 : 29 : namespace SITL { 30 : 31 : /* 32 : a Jsbsim simulator 33 : */ 34 : class JSBSim : public Aircraft { 35 : public: 36 : JSBSim(const char *frame_str); 37 : 38 : /* update model by one time step */ 39 : void update(const struct sitl_input &input) override; 40 : 41 : /* static object creator */ 42 0 : static Aircraft *create(const char *frame_str) { 43 0 : return NEW_NOTHROW JSBSim(frame_str); 44 : } 45 : 46 : private: 47 : // tcp input control socket to JSBSIm 48 : SocketAPM_native sock_control; 49 : 50 : // UDP packets from JSBSim in fgFDM format 51 : SocketAPM_native sock_fgfdm; 52 : 53 : bool initialised; 54 : 55 : uint16_t control_port; 56 : uint16_t fdm_port; 57 : char *jsbsim_script; 58 : char *jsbsim_fgout; 59 : int jsbsim_stdout; 60 : 61 : // default JSBSim model 62 : const char *jsbsim_model = "Rascal"; 63 : 64 : bool created_templates; 65 : bool started_jsbsim; 66 : bool opened_control_socket; 67 : bool opened_fdm_socket; 68 : 69 : enum { 70 : FRAME_NORMAL, 71 : FRAME_ELEVON, 72 : FRAME_VTAIL 73 : } frame; 74 : 75 : bool create_templates(void); 76 : bool start_JSBSim(void); 77 : bool open_control_socket(void); 78 : bool open_fdm_socket(void); 79 : void send_servos(const struct sitl_input &input); 80 : void recv_fdm(const struct sitl_input &input); 81 : void check_stdout(void) const; 82 : bool expect(const char *str) const; 83 : 84 : void drain_control_socket(); 85 : }; 86 : 87 : } // namespace SITL 88 : #endif // AP_SIM_JSBSIM_ENABLED 89 : 90 : namespace SITL { 91 : /* 92 : FGNetFDM class from JSBSim 93 : */ 94 : class FGNetFDM { 95 : public: 96 : 97 : enum { 98 : FG_MAX_ENGINES = 4, 99 : FG_MAX_WHEELS = 3, 100 : FG_MAX_TANKS = 4 101 : }; 102 : 103 : uint32_t version; // increment when data values change 104 : uint32_t padding; // padding 105 : 106 : // Positions 107 : double longitude; // geodetic (radians) 108 : double latitude; // geodetic (radians) 109 : double altitude; // above sea level (meters) 110 : float agl; // above ground level (meters) 111 : float phi; // roll (radians) 112 : float theta; // pitch (radians) 113 : float psi; // yaw or true heading (radians) 114 : float alpha; // angle of attack (radians) 115 : float beta; // side slip angle (radians) 116 : 117 : // Velocities 118 : float phidot; // roll rate (radians/sec) 119 : float thetadot; // pitch rate (radians/sec) 120 : float psidot; // yaw rate (radians/sec) 121 : float vcas; // calibrated airspeed 122 : float climb_rate; // feet per second 123 : float v_north; // north velocity in local/body frame, fps 124 : float v_east; // east velocity in local/body frame, fps 125 : float v_down; // down/vertical velocity in local/body frame, fps 126 : float v_body_u; // ECEF velocity in body axis 127 : float v_body_v; // ECEF velocity in body axis 128 : float v_body_w; // ECEF velocity in body axis 129 : 130 : // Accelerations 131 : float A_X_pilot; // X accel in body frame ft/sec^2 132 : float A_Y_pilot; // Y accel in body frame ft/sec^2 133 : float A_Z_pilot; // Z accel in body frame ft/sec^2 134 : 135 : // Stall 136 : float stall_warning; // 0.0 - 1.0 indicating the amount of stall 137 : float slip_deg; // slip ball deflection 138 : 139 : // Pressure 140 : 141 : // Engine status 142 : uint32_t num_engines; // Number of valid engines 143 : uint32_t eng_state[FG_MAX_ENGINES]; // Engine state (off, cranking, running) 144 : float rpm[FG_MAX_ENGINES]; // Engine RPM rev/min 145 : float fuel_flow[FG_MAX_ENGINES]; // Fuel flow gallons/hr 146 : float fuel_px[FG_MAX_ENGINES]; // Fuel pressure psi 147 : float egt[FG_MAX_ENGINES]; // Exhuast gas temp deg F 148 : float cht[FG_MAX_ENGINES]; // Cylinder head temp deg F 149 : float mp_osi[FG_MAX_ENGINES]; // Manifold pressure 150 : float tit[FG_MAX_ENGINES]; // Turbine Inlet Temperature 151 : float oil_temp[FG_MAX_ENGINES]; // Oil temp deg F 152 : float oil_px[FG_MAX_ENGINES]; // Oil pressure psi 153 : 154 : // Consumables 155 : uint32_t num_tanks; // Max number of fuel tanks 156 : float fuel_quantity[FG_MAX_TANKS]; 157 : 158 : // Gear status 159 : uint32_t num_wheels; 160 : uint32_t wow[FG_MAX_WHEELS]; 161 : float gear_pos[FG_MAX_WHEELS]; 162 : float gear_steer[FG_MAX_WHEELS]; 163 : float gear_compression[FG_MAX_WHEELS]; 164 : 165 : // Environment 166 : uint32_t cur_time; // current simulation time of JSBSim 167 : int32_t warp; // offset in seconds to unix time 168 : float visibility; // visibility in meters (for env. effects) 169 : 170 : // Control surface positions (normalized values) 171 : float elevator; 172 : float elevator_trim_tab; 173 : float left_flap; 174 : float right_flap; 175 : float left_aileron; 176 : float right_aileron; 177 : float rudder; 178 : float nose_wheel; 179 : float speedbrake; 180 : float spoilers; 181 : 182 : // nasty hack .... JSBSim sends in little-endian 183 : void ByteSwap(void); 184 : }; 185 : 186 : } // end namespace SITL
