[Paparazzi-devel] JSBSim for fixedwing example

[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. If so, would
it be possible to obtain an example airframe file and any other
details that may be necessary?

I was looking through previous emails and there was mention of the
jsbsim.xml airframe, and also the makefile section additions that are
required, but there is some discrepancy in the examples and the
emails, and I was wondering what is correct. There was also an email
in December questioning whether the implementation was still working
properly.

I tried using the jsbsim.xml example after installed the jsbsim
package using apt-get as per the BoozSimulator page, but running

$ make AIRCRAFT=jsbsimtest jsbsim
(where jsbsimtest is my aircraft defined in conf.xml, which is the
microjet example with the airframe defined as jsbsim.xml)

gives me an error:

address@hidden:~/paparazzi$ make AIRCRAFT=jsbsimtest clean_ac jsbsim
jsbsimtest
rm -fr /home/stephen/paparazzi/var/jsbsimtest
jsbsimtest
BUILD jsbsimtest, TARGET jsbsim
BUILD /home/stephen/paparazzi/var/jsbsimtest/generated/airframe.h
##################################################

 AIRFRAME MODEL: jsbsimtest

##################################################
BUILD /home/stephen/paparazzi/var/jsbsimtest/generated/modules.h
BUILD /home/stephen/paparazzi/var/jsbsimtest/generated/settings.h
BUILD /home/stephen/paparazzi/var/jsbsimtest/generated/tuning.h
BUILD /home/stephen/paparazzi/var/jsbsimtest/generated/periodic.h
BUILD /home/stephen/paparazzi/var/jsbsimtest/generated/radio.h
##################################################

 RADIO MODEL: cockpitMM

##################################################
BUILD /home/stephen/paparazzi/var/jsbsimtest/generated/flight_plan.h
##################################################

 FLIGHT PLAN: Basic

##################################################

Warning: low altitude (0<0+25) in <waypoint NAME="TD" Y="57.0"
X="28.8" ALT="0.0"/>

BUILD /home/stephen/paparazzi/var/jsbsimtest/flight_plan.xml
cd sw/airborne; make PAPARAZZI_SRC=/home/stephen/paparazzi
PAPARAZZI_HOME=/home/stephen/paparazzi TARGET=jsbsim ARCHI=jsbsim
ARCH=jsbsim all
DEPEND /home/stephen/paparazzi/var/jsbsimtest/jsbsim/.depend
g++: /stabilization/stabilization_attitude.c: No such file or directory
g++: /guidance/guidance_v.c: No such file or directory
g++: /main_fbw.c: No such file or directory
g++: /main_ap.c: No such file or directory
g++: /datalink.c: No such file or directory
CC /home/stephen/paparazzi/var/jsbsimtest/jsbsim/arch/sim/jsbsim_hw.o
CC /home/stephen/paparazzi/var/jsbsimtest/jsbsim/arch/sim/jsbsim_gps.o
CC /home/stephen/paparazzi/var/jsbsimtest/jsbsim/arch/sim/jsbsim_ir.o
CC /home/stephen/paparazzi/var/jsbsimtest/jsbsim/arch/sim/jsbsim_transport.o
CC /home/stephen/paparazzi/var/jsbsimtest/jsbsim/arch/sim/ivy_transport.o
CC /home/stephen/paparazzi/var/jsbsimtest/jsbsim/latlong.o
CC /home/stephen/paparazzi/var/jsbsimtest/jsbsim/downlink.o
CC /home/stephen/paparazzi/var/jsbsimtest/jsbsim/commands.o
CC /home/stephen/paparazzi/var/jsbsimtest/jsbsim/gps.o
CC /home/stephen/paparazzi/var/jsbsimtest/jsbsim/inter_mcu.o
CC /home/stephen/paparazzi/var/jsbsimtest/jsbsim/subsystems/sensors/infrared.o
make[1]: *** No rule to make target
`/home/stephen/paparazzi/var/jsbsimtest/jsbsim//stabilization/stabilization_attitude.o',
needed by `/home/stephen/paparazzi/var/jsbsimtest/jsbsim/simsitl'.
Stop.
make: *** [jsbsim] Error 2

I modified the makefile section of jsbsim.xml to be as such:

 <makefile>

#### Config for SITL simulation
include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile

sim.CFLAGS += -DBOARD_CONFIG=\"boards/tiny_sim.h\" -DAGR_CLIMB
-DLOITER_TRIM -DALT_KALMAN
sim.srcs += subsystems/navigation/nav_line.c
subsystems/navigation/nav_survey_rectangle.c


#### Config for SITL simulation with JSBSim
include $(PAPARAZZI_SRC)/conf/autopilot/sitl_jsbsim.makefile
jsbsim.CFLAGS += -I/usr/include/JSBSim
jsbsim.LDFLAGS += -L/usr/lib
jsbsim.CFLAGS += -DBOARD_CONFIG=\"boards/tiny_sim.h\" -DAGR_CLIMB
-DLOITER_TRIM -DALT_KALMAN
jsbsim.srcs += subsystems/navigation/nav_line.c
subsystems/navigation/nav_survey_rectangle.c
jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c

  </makefile>

I am not sure what I am doing wrong. Any thoughts would be appreciated!

Note that I am running paparazzi on Ubuntu 10.04 in VirtualBox.
Everything has been freshly updated, and the normal sim target for the
Microjet example aircraft runs perfectly.

Thanks,
-Stephen