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Re: [Paparazzi-devel] JSBSim for fixedwing example

From: Stephen Dwyer
Subject: Re: [Paparazzi-devel] JSBSim for fixedwing example
Date: Mon, 7 Feb 2011 11:57:39 -0700


Thanks for the information.

I have attempted again to run the simulation using JSBSim, but have
not yet had any success.

I have been able to compile the aircraft, with one problem. I tried
both the jsbsim.xml and microjet_example.xml. Since I am using the
jsbsim package, I only added jsbsim.CFLAGS += -g to the makefile (not
sure what this does). I also made sure the firmware section was in
each file (was already in the microjet file) and added the "jsbsim"
target with the "pc" as the board, as you show below. I also added the
simu section:
  <section name="SIMU">
    <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
    <define name="JSBSIM_IR_ROLL_NEUTRAL" value="RadOfDeg(0.)"/>
    <define name="JSBSIM_IR_PITCH_NEUTRAL" value="RadOfDeg(0.)"/>
to each file.

(These both compile with the exception that for microjet_example.xml I
needed to comment out the second last line ppm_arch_init(); of
/paparazzi/sw/airborne/subsystems/radio_control/ppm.c . Still looking
to see what causes this.)

In any case, I tried to run the sitl simulation on the aircraft after
compiling, adding the -jsbsim option to the sim, and get this:

     JSBSim Flight Dynamics Model v1.0 Oct 11 2010 15:24:33
            [JSBSim-ML v2.0]

JSBSim startup beginning ...

Simulation delta 0.017
Broadcasting on network, port 2010

but once I pressed Takeoff then Launch, the Paparazzi Center output gives this:
repeatedly. This looks to be an error from the GCS. Also, the display
on the GCS shows outrageous and fluctuating values for AGL and
velocity, and the aircraft does not move in the map. Interestingly,
the Battery status indicator reads "12." instead of "12.5".

Any thoughts on what the problem is would be appreciated! I am using
the latest git pull.


On Mon, Feb 7, 2011 at 1:57 AM, Andreas Gaeb <address@hidden> wrote:
> Hi Stephen,
> Am 05.02.2011 02:38, schrieb Stephen Dwyer:
>> Hello,
>> I was hoping to utilize the JSBSim FDM for my fixedwing simulations,
>> and I was wondering if anyone was currently doing this.
> I do use it frequently.
>> If so, would
>> it be possible to obtain an example airframe file and any other
>> details that may be necessary?
> The ENAC/malolo_sim airframe can still be used as an example. However,
> the airframe xml is still in the old format. To update it, remove the
> old makefile section and replace it by something like the following:
>  <firmware name="fixedwing">
>    <target name="jsbsim" board="pc"/>
>    <define name="LOITER_TRIM"/>
>    <define name="ALT_KALMAN"/>
>    <define name="AGR_CLIMB"/>
>    <subsystem name="telemetry"     type="transparent">
>      <define name="MODEM_BAUD"     value="B57600"/>
>      <define name="MODEM_UART_NR"  value="1"/>
>    </subsystem>
>    <subsystem name="control"/>
>    <subsystem name="navigation"/>
>    <subsystem name="attitude"      type="infrared"/>
>    <subsystem name="gps"           type="ublox_lea4p"/>
>  </firmware>
>  <makefile location="after">
> # SITL with JSBSim
> jsbsim.CFLAGS += -I<path to JSBSim includes dir>
> jsbsim.LDFLAGS += -L<path to JSBSim libs dir>
> jsbsim.CFLAGS += -g
>  </makefile>
> If you use the JSBSim package, you may even be able to skip the makefile
> section, but I haven't tried as I use JSBSim CVS.
> Best regards,
>        Andreas
> _______________________________________________
> Paparazzi-devel mailing list
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