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Re: [Paparazzi-devel] Paparazzi JSBSim configuration

From: Shaun C
Subject: Re: [Paparazzi-devel] Paparazzi JSBSim configuration
Date: Mon, 19 May 2014 15:39:47 -0400

Hi Felix,

Thank you very much for making those modifications to the code.

I have tested it out and with the Microjet_LisaM profile, the microjet_lisa_m.xml works nicely under the NPS simulator. However, when compiled for JSBSim with the same settings, it cannot appear to turn, only go in a huge arc.
Also, I have tried out the Microjet profile with JSBSim and it too files however, once it takes off and gains altitude, it only appears to turn right.

As the JSBSim target is going to be removed in future versions, is there some functionality in the IMU sensors that is tied into NPS but not JSBSim? Or something else that is not currently implemented for full JSBSim simulation hence causing the strange results?

The reason I ask is that the project we are working on is currently committed to using JSBSim and switching to NPS right now is not feasible. Worst case scenario, we can use an older version of paparazzi but that is not ideal.

Once again, thank you for getting the JSBSim functioning again.

On Mon, May 19, 2014 at 1:01 PM, Felix Ruess <address@hidden> wrote:
Hi Shaun,

should be fixed in master, at least it basically works.

Also note that you should be able to use NPS (with JSBSim) for fixedwing simulation now and that we will remove the jsbsim target in the future.
See microjet_lisa_m.xml as a basic example (which roughly works using basic.xml flightplan, considering that the Malolo model is actually quite a bit bigger, faster).

If you add the nps.xml settings file you can also change the wind, turbulence, etc...

Cheers, Felix

On Thu, May 15, 2014 at 8:55 PM, Shaun C <address@hidden> wrote:

As part of a college project we have been doing some work with paparazzi and hitl based simulations. We wish to use jsbsim for the simulator.

I am using the latest version of paparazzi with the latest version of paparazzi-jsbsim running on ubuntu 12.04 and also 14.04 (multiple dev machines).

Right now I am trying to get the standard micro jet configuration profile to run in sitl with the jsbsim simulation and I am having some difficulties with what appear to be the paparazzi flight configuration parameters. After this is working I can move into the hitl portion of our project.

This is a list of what I have tried so far to get a working flight. To keep this email short I will omit the details:
The first issue is that the flight crashes very soon after take-off. I added a catapult configuration and changed launch speeds etc.. It all resulted in the plane crashing again at various locations (within meters of the launch point).
Recreating the configuration file based on jsbsim.xml 
Using a different plane model other than the Malolo1 
Adding jsbsim target to several of the other configurations like twinjet etc...
Changing many different configuration parameters in the micro jet XML file
Tuning the pid for the pitch (interestingly enough, the best results that I got for jsbsim would not work for the OCaml simulator and vice versa)
I also took a configuration file for the micro jet from the paparazzi git version from July 2011. Some of the pid parameters in that micro jet file are inverted compared to the parameters in the latest version. The older version works slightly better in that it does not crash but it also never seems to take-off either, just travel along the ground.

All of the above were tried and I have not been able to get the plane to fly.

The reason for this may be due to my n00bness with paparazzi and the jsbsim FDM. I am willing to bet that there are things I am not doing correctly but I cannot seem to gain any traction. All of the trial and error now leads me to a question regarding the jsbsim implementation.

Does the current version of paparazzi actually work with the current version of paparazzi jsbsim (July 2012  version)? 

If it does, is there a known working configuration that is available that I can use as a reference?
Otherwise is there some resource I can draw from to get a jsbsim based simulation up and running?

Thanks in advance.

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