[nps] fixedwings: no need for NPS_ACTUATOR_NAMES

If NPS_ACTUATOR_NAMES is not specified, use the standard throttle,roll,pitch and if used in airframe yaw commands
for throttle, aileron, elevator and rudder in JSBSim model.

conf/airframes/ENAC/fixed-wing/jp.xml

@@ -274,9 +274,7 @@
   </section>
 
   <section name="SIMULATOR" prefix="NPS_">
-    <!--define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/-->
-    <define name="JSBSIM_MODEL" value="&quot;LisaAspirin2&quot;"/>
-    <define name="ACTUATOR_NAMES" value="{&quot;throttle-cmd-norm&quot;, &quot;aileron-cmd-norm&quot;, &quot;elevator-cmd-norm&quot;, &quot;rudder-cmd-norm&quot;}"/>
+    <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
     <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_invariant.h&quot;"/>
     <define name="JS_AXIS_MODE" value="4"/>
   </section>

conf/airframes/examples/microjet_lisa_m.xml

@@ -204,12 +204,8 @@
   <section name="SIMULATOR" prefix="NPS_">
     <define name="JSBSIM_MODEL" value="&quot;Malolo1&quot;"/>
     <define name="JSBSIM_LAUNCHSPEED" value="20"/>
-    <define name="COMMANDS_NB" value="3"/>
-    <define name="ACTUATOR_NAMES" value="{&quot;throttle-cmd-norm&quot;, &quot;aileron-cmd-norm&quot;, &quot;elevator-cmd-norm&quot;}"/>
     <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
     <define name="JS_AXIS_MODE" value="4"/>
-    <define name="BYPASS_AHRS" value="TRUE"/>
-    <define name="BYPASS_INS" value="TRUE"/>
   </section>
 
 </airframe>

sw/simulator/nps/nps_autopilot.h

@@ -15,7 +15,12 @@
 #if defined MOTOR_MIXING_NB_MOTOR
 #define NPS_COMMANDS_NB MOTOR_MIXING_NB_MOTOR
 #else
+#ifdef NPS_ACTUATOR_NAMES
 #define NPS_COMMANDS_NB COMMANDS_NB
+#else
+/* not using explicitly set NPS_ACTUATOR_NAMES -> throttle,roll,pitch,yaw commands */
+#define NPS_COMMANDS_NB 4
+#endif
 #endif
 #endif
 

sw/simulator/nps/nps_autopilot_fixedwing.c

@@ -64,8 +64,6 @@ bool_t nps_bypass_ins;
 #define NPS_BYPASS_INS FALSE
 #endif
 
-PRINT_CONFIG_VAR(NPS_COMMANDS_NB)
-
 
 #if !defined (FBW) || !defined (AP)
 #error NPS does not currently support dual processor simulation for FBW and AP on fixedwing!
@@ -139,10 +137,32 @@ void nps_autopilot_run_step(double time) {
   Ap(handle_periodic_tasks);
 
   /* scale final motor commands to 0-1 for feeding the fdm */
+#ifdef NPS_ACTUATOR_NAMES
+PRINT_CONFIG_MSG("actuators for JSBSim explicitly set.")
+PRINT_CONFIG_VAR(NPS_COMMANDS_NB)
+  //PRINT_CONFIG_VAR(NPS_ACTUATOR_NAMES)
+
   for (uint8_t i=0; i < NPS_COMMANDS_NB; i++)
     autopilot.commands[i] = (double)commands[i]/MAX_PPRZ;
   // hack: invert pitch to fit most JSBSim models
   autopilot.commands[COMMAND_PITCH] = -(double)commands[COMMAND_PITCH]/MAX_PPRZ;
+#else
+PRINT_CONFIG_MSG("Using throttle, roll, pitch, yaw commands instead of explicit actuators.")
+PRINT_CONFIG_VAR(COMMAND_THROTTLE)
+PRINT_CONFIG_VAR(COMMAND_ROLL)
+PRINT_CONFIG_VAR(COMMAND_PITCH)
+
+  autopilot.commands[COMMAND_THROTTLE] = (double)commands[COMMAND_THROTTLE]/MAX_PPRZ;
+  autopilot.commands[COMMAND_ROLL] = (double)commands[COMMAND_ROLL]/MAX_PPRZ;
+  // hack: invert pitch to fit most JSBSim models
+  autopilot.commands[COMMAND_PITCH] = -(double)commands[COMMAND_PITCH]/MAX_PPRZ;
+#ifdef COMMAND_YAW
+PRINT_CONFIG_VAR(COMMAND_YAW)
+  autopilot.commands[COMMAND_YAW] = (double)commands[COMMAND_YAW]/MAX_PPRZ;
+#else
+  autopilot.commands[3] = 0.;
+#endif
+#endif
 
   // do the launch when clicking launch in GCS
   autopilot.launch = launch && !kill_throttle;

sw/simulator/nps/nps_fdm_jsbsim.cpp

@@ -81,6 +81,7 @@ using namespace JSBSim;
 using namespace std;
 
 static void feed_jsbsim(double* commands, int commands_nb);
+static void feed_jsbsim(double throttle, double aileron, double elevator, double rudder);
 static void fetch_state(void);
 static int check_for_nan(void);
 
@@ -222,7 +223,7 @@ void nps_fdm_set_wind(double speed, double dir, int turbulence_severity) {
  * @param commands_nb Number of commands (length of array)
  */
 static void feed_jsbsim(double* commands, int commands_nb) {
-
+#ifdef NPS_ACTUATOR_NAMES
   char buf[64];
   const char* names[] = NPS_ACTUATOR_NAMES;
   string property;
@@ -233,9 +234,17 @@ static void feed_jsbsim(double* commands, int commands_nb) {
     property = string(buf);
     FDMExec->GetPropertyManager()->GetNode(property)->SetDouble("", commands[i]);
   }
+#else
+  if (commands_nb != 4) {
+    cerr << "commands_nb must be 4!" << endl;
+    exit(-1);
+  }
+  /* call version that directly feeds throttle, aileron, elevator, rudder */
+  feed_jsbsim(commands[COMMAND_THROTTLE], commands[COMMAND_ROLL], commands[COMMAND_PITCH], commands[3]);
+#endif
 }
 
-void feed_jsbsim(double throttle, double aileron, double elevator, double rudder)
+static void feed_jsbsim(double throttle, double aileron, double elevator, double rudder)
 {
   FGFCS* FCS = FDMExec->GetFCS();
   FCS->SetDaCmd(aileron);