diff --git a/Makefile.ac b/Makefile.ac index d896d137e3..10bbb69ea9 100644 --- a/Makefile.ac +++ b/Makefile.ac @@ -159,6 +159,9 @@ BOOTLOADER_DEVICE=/dev/ttyUSB0 tiny_bl.upload: lpc21isp -control $(AIRBORNE)/arm7/test/bootloader/bl.hex $(BOOTLOADER_DEVICE) 38400 12000 +jsbsim jsbsim.compile: ac_h + cd $(AIRBORNE); $(MAKE) TARGET=jsbsim ARCHI=jsbsim all + sim: ac_h cd $(AIRBORNE); $(MAKE) TARGET=sim ARCHI=sim all diff --git a/conf/Makefile.jsbsim b/conf/Makefile.jsbsim new file mode 100644 index 0000000000..c62f59c42f --- /dev/null +++ b/conf/Makefile.jsbsim @@ -0,0 +1,100 @@ +# Hey Emacs, this is a -*- makefile -*- +# +# $Id: Makefile.sim 3505 2009-06-17 12:59:32Z hecto $ +# Copyright (C) 2006 Pascal Brisset, Antoine Drouin +# +# This file is part of paparazzi. +# +# paparazzi 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 2, or (at your option) +# any later version. +# +# paparazzi 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 paparazzi; see the file COPYING. If not, write to +# the Free Software Foundation, 59 Temple Place - Suite 330, +# Boston, MA 02111-1307, USA. +# + +# +# This is the Makefile for the JSBSim target. +# Compilator: g++ +# + +SRC_ARCH = sim + +CC = g++ +SIMDIR = $(PAPARAZZI_SRC)/sw/simulator + +# Launch with "make Q=''" to get full command display +Q=@ + +# +# Compilation flags +# + +CFLAGS = -W -Wall $(INCLUDES) -I$(PAPARAZZI_SRC)/sw/airborne/$(SRC_ARCH) $($(TARGET).CFLAGS) $(LOCAL_CFLAGS) -O2 + +LDFLAGS = -lm $($(TARGET).LDFLAGS) + +# +# General rules +# + +$(TARGET).srcsnd = $(notdir $($(TARGET).srcs)) +$(TARGET).objso = $($(TARGET).srcs:%.c=$(OBJDIR)/%.o) +$(TARGET).objs = $($(TARGET).objso:%.S=$(OBJDIR)/%.o) + +all compile: $(OBJDIR)/simsitl + + +$(OBJDIR)/simsitl : $($(TARGET).objs) + @echo LD $@ + $(Q)$(CC) $(CFLAGS) -o $@ $($(TARGET).objs) $(LDFLAGS) + + +%.s: %.c + $(CC) $(CFLAGS) -S -o $@ $< + +%.s: %.cpp + $(CC) $(CFLAGS) -S -o $@ $< + +$(OBJDIR)/%.s: %.c + @echo CC $@ + $(Q)test -d $(dir $@) || mkdir -p $(dir $@) + $(CC) $(CFLAGS) -S -o $@ $< + +$(OBJDIR)/%.s: %.cpp + @echo CC $@ + $(Q)test -d $(dir $@) || mkdir -p $(dir $@) + $(CC) $(CFLAGS) -S -o $@ $< + +$(OBJDIR)/%.o: %.c $(OBJDIR)/../Makefile.ac + @echo CC $@ + $(Q)test -d $(dir $@) || mkdir -p $(dir $@) + $(Q)$(CC) $(CFLAGS) -c -o $@ $< + +$(OBJDIR)/%.o: %.cpp $(OBJDIR)/../Makefile.ac + @echo CC++ $@ + $(Q)test -d $(dir $@) || mkdir -p $(dir $@) + $(Q)$(CC) $(CFLAGS) -c -o $@ $< + + +# +# Dependencies +# +$(OBJDIR)/.depend: + @test -d $(OBJDIR) || mkdir -p $(OBJDIR) + @echo DEPEND $@ + $(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@ + +ifneq ($(MAKECMDGOALS),clean) +ifneq ($(MAKECMDGOALS),erase) +-include $(OBJDIR)/.depend +endif +endif diff --git a/conf/airframes/ENAC/fixed-wing/spocII.xml b/conf/airframes/ENAC/fixed-wing/spocII.xml index aa6f66252a..1978a6c42d 100644 --- a/conf/airframes/ENAC/fixed-wing/spocII.xml +++ b/conf/airframes/ENAC/fixed-wing/spocII.xml @@ -193,13 +193,19 @@
- - - - - -
- + + + + + + + +
+ + + +
+ CONFIG = \"tiny_2_1_1.h\" @@ -258,6 +264,16 @@ sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN sim.srcs += nav_line.c nav_survey_rectangle.c +# Config for JSBSim simulation +include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile + +jsbsim.CFLAGS += -I/home/cocoleon/usr/include/JSBSim +jsbsim.LDFLAGS += -L/home/cocoleon/usr/lib/ + +jsbsim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN +jsbsim.srcs += nav_line.c nav_survey_rectangle.c +jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c + # a test program to setup actuators setup_actuators.ARCHDIR = $(ARCHI) diff --git a/conf/autopilot/sitl_jsbsim.makefile b/conf/autopilot/sitl_jsbsim.makefile index 1cf89cf4b6..d367467f29 100644 --- a/conf/autopilot/sitl_jsbsim.makefile +++ b/conf/autopilot/sitl_jsbsim.makefile @@ -1,15 +1,16 @@ -SIM_TYPE = JSBSIM -sim.ARCHDIR = $(ARCHI) -sim.ARCH = sitl -sim.TARGET = autopilot -sim.TARGETDIR = autopilot +jsbsim.ARCHDIR = $(ARCHI) +jsbsim.ARCH = sitl +jsbsim.TARGET = autopilot +jsbsim.TARGETDIR = autopilot # external libraries -sim.CFLAGS = -I$(SIMDIR) -I/usr/include `pkg-config glib-2.0 --cflags` -sim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lpcre -lglibivy -L/usr/lib -lJSBSim +jsbsim.CFLAGS = -I$(SIMDIR) -I/usr/include `pkg-config glib-2.0 --cflags` +jsbsim.LDFLAGS += `pkg-config glib-2.0 --libs` -lm -lpcre -lglibivy -L/usr/lib -lJSBSim -sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO -sim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_transport.c $(SRC_ARCH)/ivy_transport.c -sim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c -sim.srcs += $(SIMDIR)/sim_ac_jsbsim.c -#$(SIMDIR)/sim_ac_fw.c +jsbsim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO +jsbsim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_transport.c $(SRC_ARCH)/ivy_transport.c +jsbsim.srcs += latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c +jsbsim.srcs += $(SIMDIR)/sim_ac_jsbsim.c +# Choose in your airframe file type of airframe +# jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c +# jsbsim.srcs += $(SIMDIR)/sim_ac_booz.c diff --git a/conf/simulator/Corsica/Corsica.xml b/conf/simulator/Corsica/Corsica.xml index 2daa051a8f..f14f9af76c 100644 --- a/conf/simulator/Corsica/Corsica.xml +++ b/conf/simulator/Corsica/Corsica.xml @@ -52,8 +52,68 @@ - - + + + + 0.07 + -0.6 + -0.01 + + 0.8 + 0.5 + 0.02 + 30 + 5 + 0.0 + LEFT + 0 + + + + 0.07 + 0.6 + -0.01 + + 0.8 + 0.5 + 0.02 + 30 + 5 + 0.0 + RIGHT + 0 + + + + 0.6 + 0.0 + -0.01 + + 0.8 + 0.5 + 0.02 + 6 + 5 + 360.0 + NONE + 0 + + + + 0.01 + 0.0 + -0.01 + + 0.8 + 0.5 + 0.02 + 6 + 5 + 360.0 + NONE + 0 + + @@ -82,6 +142,14 @@ 1.0 + + + 0.7 + 0.0 + 0.0 + + 0.001 + diff --git a/conf/simulator/Corsica/Corsica2010.xml b/conf/simulator/Corsica/Corsica2010.xml deleted file mode 100644 index 2daa051a8f..0000000000 --- a/conf/simulator/Corsica/Corsica2010.xml +++ /dev/null @@ -1,388 +0,0 @@ - - - - - - Murat Bronz - 18/03/2010 - Version - Corsica10 Prototype - - - - 0.21 - 1.5 - 0.14 - 0.026 - 0.6 - 0.011 - 0.6 - - 0 - 0 - 0 - - - 0 - 0 - 0 - - - 0 - 0 - 0 - - - - - 0.125 - 0.032 - 0.156 - 0 - -0.003 - 0 - 2.0 - - 0.067 - 0 - 0 - - - - - - - - - - - -0.02 - 0 - 0 - - - 0.0 - 0 - 0 - - 0 - - - -0.02 - 0 - 0 - - - 0.0 - 0.0 - 0.0 - - 1.0 - - - - - - - - - fcs/elevator-cmd-norm - fcs/pitch-trim-cmd-norm - - -1 - 1 - - - - - fcs/pitch-trim-sum - - -0.5 - 0.5 - - fcs/elevator-pos-rad - - - - fcs/elevator-pos-rad - - -0.5 - 0.5 - - - -1 - 1 - - fcs/elevator-pos-norm - - - - fcs/aileron-cmd-norm - fcs/roll-trim-cmd-norm - - -1 - 1 - - - - - fcs/roll-trim-sum - - -0.5 - 0.5 - - fcs/left-aileron-pos-rad - - - - -fcs/roll-trim-sum - - -0.5 - 0.5 - - fcs/right-aileron-pos-rad - - - - fcs/left-aileron-pos-rad - - -0.5 - 0.5 - - - -1 - 1 - - fcs/left-aileron-pos-norm - - - - fcs/right-aileron-pos-rad - - -0.5 - 0.5 - - - -1 - 1 - - fcs/right-aileron-pos-norm - - - - - - - - - - - Drag_at_zero_lift - - aero/qbar-psf - metrics/Sw-sqft - - aero/alpha-deg - - -10.0 0.02748 - -8.0 0.02243 - -6.0 0.02335 - -4.0 0.02770 - -2.0 0.03369 - 0.0 0.04284 - 2.0 0.05454 - 4.0 0.06868 - 6.0 0.08515 - 8.0 0.1055 - 10.0 0.1595 - -
- - - - - Drag_due_to_Elevator_Deflection - - aero/qbar-psf - metrics/Sw-sqft - fcs/elevator-pos-deg - 0.000094 - - - - - - - Side_force_due_to_beta - - aero/qbar-psf - metrics/Sw-sqft - aero/beta-rad - -0.141391 - - - - - - - Lift_due_to_alpha - - aero/qbar-psf - metrics/Sw-sqft - aero/alpha-rad - 5.1460 - - - - Lift_due_to_Elevator_Deflection - - aero/qbar-psf - metrics/Sw-sqft - fcs/elevator-pos-deg - 0.003644 - - - - - - - Roll_moment_due_to_beta - - - aero/qbar-psf - metrics/Sw-sqft - metrics/bw-ft - aero/beta-rad - -0.04235 - - - - Roll_moment_due_to_roll_rate - - aero/qbar-psf - metrics/Sw-sqft - metrics/bw-ft - aero/bi2vel - velocities/p-aero-rad_sec - -0.561207 - - - - Roll_moment_due_to_yaw_rate - - aero/qbar-psf - metrics/Sw-sqft - metrics/bw-ft - aero/bi2vel - velocities/r-aero-rad_sec - 0.17269 - - - - Roll_moment_due_to_aileron - - aero/qbar-psf - metrics/Sw-sqft - metrics/bw-ft - fcs/right-aileron-pos-deg - -0.004076 - - - - - - - Pitch_moment_due_to_alpha - - aero/qbar-psf - metrics/Sw-sqft - metrics/cbarw-ft - aero/alpha-rad - -0.523384 - - - - Pitch_moment_due_to_elevator - - aero/qbar-psf - metrics/Sw-sqft - metrics/cbarw-ft - fcs/elevator-pos-deg - -0.014833 - - - - Pitch_moment_due_to_pitch_rate - - aero/qbar-psf - metrics/Sw-sqft - metrics/cbarw-ft - aero/ci2vel - velocities/q-aero-rad_sec - -15.281710 - - - - Pitch_moment_due_to_alpha_rate - - aero/qbar-psf - metrics/Sw-sqft - metrics/cbarw-ft - aero/ci2vel - aero/alphadot-rad_sec - -7.0000 - - - - - - - Yaw_moment_due_to_beta - - aero/qbar-psf - metrics/Sw-sqft - metrics/bw-ft - aero/beta-rad - 0.039729 - - - - Yaw_moment_due_to_yaw_rate - - aero/qbar-psf - metrics/Sw-sqft - metrics/bw-ft - aero/bi2vel - velocities/r-aero-rad_sec - -0.048425 - - - - Adverse_yaw - - aero/qbar-psf - metrics/Sw-sqft - metrics/bw-ft - fcs/right-aileron-pos-deg - 0.00026 - - - - - diff --git a/sw/simulator/launchsitl b/sw/simulator/launchsitl index eb8115140d..3897a35cdc 100755 --- a/sw/simulator/launchsitl +++ b/sw/simulator/launchsitl @@ -12,14 +12,22 @@ let () = try let rec loop = fun i -> if Sys.argv.(i) = "-a" && (i+1) < n then - let ac = Sys.argv.(i+1) in - (* Shift other args *) - for j = i+2 to n-1 do Sys.argv.(j-2) <- Sys.argv.(j) done; - ac + let ac = Sys.argv.(i+1) in + (* Shift other args *) + for j = i+2 to n-1 do Sys.argv.(j-2) <- Sys.argv.(j) done; + ac else if i = n then raise Not_found else loop (i+1) in let ac = loop 0 in - let com = paparazzi_home // "var" // ac // "sim/simsitl" in + (*let rec sim_type = fun i -> + if Sys.argv.(i) = "-jsbsim" then + "jsbsim" + else if i = n then "sim" + else loop (i+1) in + let sim = sim_type 0 in*) + let sim = "jsbsim" in + let com = paparazzi_home // "var" // ac // sim // "simsitl" in + prerr_endline com; if not (Sys.file_exists com) then begin Printf.fprintf stderr "Error: '%s' is missing. Build target sim for A/C %s ?\n" com ac; exit 1 diff --git a/sw/simulator/sim_ac_jsbsim.c b/sw/simulator/sim_ac_jsbsim.c index 193437fd77..7a50d2d180 100644 --- a/sw/simulator/sim_ac_jsbsim.c +++ b/sw/simulator/sim_ac_jsbsim.c @@ -112,7 +112,7 @@ int main ( int argc, char** argv) { static void ivy_transport_init(void) { - IvyInit ("Paparazzi sim " + AC_ID, "READY", NULL, NULL, NULL, NULL); + IvyInit ("Paparazzi jsbsim " + AC_ID, "READY", NULL, NULL, NULL, NULL); IvyStart(ivyBus.c_str()); } @@ -147,6 +147,9 @@ static void sim_parse_options(int argc, char** argv) { else if (argument == "-norc") { // Compatibility with ocaml } + else if (argument == "-jsbsim") { + // Compatibility with ocaml + } else if (argument == "-b") { ivyBus = string(argv[++i]); }