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Add jsbsim bridge to enable jsbsim for px4 SITL on jsbsim (#15748) 

* Add jsbsim bridge to enable jsbsim for px4 SITL/HIL on jsbsim

This is a PX4 HIL/SITL integration into JSBSim. JSBSim is an open source flight dynamics model (http://jsbsim.sourceforge.net/)

Currently there are three models available which is the rascal, quadrotor_x, hexarotor_x integrated into the bridge.

The simulation can be run with the firmware with the following command for example
```
make px4_sitl jsbsim_rascal
```

The visualization is done flightgear and is done by the bridge sending UDP packets to flightgear. To disable the visualization `HEADLESS=1` when running the make command.

The simulation can be configured through the configuration files under the `config` directory through a xml file. Senor configurations,  The xml file name should match the name of the model.

* Update Tools/sitl_run.sh

Co-authored-by: Beat Küng <beat-kueng@gmx.net>

Co-authored-by: Beat Küng <beat-kueng@gmx.net>
sbg
JaeyoungLim 4 years ago committed by GitHub
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  1. 3
      .gitmodules
  2. 12
      ROMFS/px4fmu_common/init.d-posix/10017_quadrotor_x
  3. 35
      ROMFS/px4fmu_common/init.d-posix/10018_hexarotor_x
  4. 1
      Tools/jsbsim_bridge
  5. 40
      Tools/setup_jsbsim.bash
  6. 24
      Tools/sitl_run.sh
  7. 88
      platforms/posix/cmake/sitl_target.cmake

3
.gitmodules vendored
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@ -48,3 +48,6 @@ @@ -48,3 +48,6 @@
[submodule "Tools/flightgear_bridge"]
path = Tools/flightgear_bridge
url = https://github.com/PX4/PX4-FlightGear-Bridge.git
[submodule "Tools/jsbsim_bridge"]
path = Tools/jsbsim_bridge
url = https://github.com/PX4/px4-jsbsim-bridge.git

12
ROMFS/px4fmu_common/init.d-posix/10017_quadrotor_x
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@ -0,0 +1,12 @@ @@ -0,0 +1,12 @@
#!/bin/sh
#
# @name Quadrotor SITL model for JSBSim
#
# @type Quadrotor Wide
#
# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
#
sh /etc/init.d/rc.mc_defaults
set MIXER quad_w

35
ROMFS/px4fmu_common/init.d-posix/10018_hexarotor_x
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@ -0,0 +1,35 @@ @@ -0,0 +1,35 @@
#!/bin/sh
#
# @name Hexacopter SITL model for JSBSim
#
# @type Hexarotor x
#
# @maintainer Jaeyoung Lim <jaeyoung@auterion.com>
#
sh /etc/init.d/rc.mc_defaults
if [ $AUTOCNF = yes ]
then
param set MC_PITCHRATE_P 0.1
param set MC_PITCHRATE_I 0.05
param set MC_PITCH_P 6.0
param set MC_ROLLRATE_P 0.15
param set MC_ROLLRATE_I 0.1
param set MC_ROLL_P 6.0
param set MPC_XY_VEL_I_ACC 4
param set MPC_XY_VEL_P_ACC 3
param set RTL_DESCEND_ALT 10
param set RTL_LAND_DELAY 0
param set TRIG_INTERFACE 3
param set TRIG_MODE 4
param set MNT_MODE_IN 4
param set MNT_DO_STAB 2
param set MAV_PROTO_VER 2
fi
set MAV_TYPE 13
set MIXER hexa_x

1
Tools/jsbsim_bridge

@ -0,0 +1 @@ @@ -0,0 +1 @@
Subproject commit efe19dbec7e82784a48c6b6e7710f54468c8a8d4

40
Tools/setup_jsbsim.bash
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@ -0,0 +1,40 @@ @@ -0,0 +1,40 @@
#!/bin/bash
#
# Setup environment to make JSBSim visible to PX4.
#
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
if [ "$#" != 3 ]; then
echo -e "usage: source setup_jsbsim.bash src_dir build_dir model\n"
return 1
fi
SRC_DIR="$1"
BUILD_DIR="$2"
MODEL="$3"
export FG_AIRCRAFT="${SRC_DIR}/Tools/jsbsim_bridge/models"
# This is needed for aircraft namespace mapping
# Need more architectural discussions to make this more scalable
case "$MODEL" in
rascal)
AIRCRAFT_DIR="Rascal"
MODEL_NAME="Rascal110-JSBSim"
;;
quadrotor_x)
AIRCRAFT_DIR="quadrotor_x"
MODEL_NAME="quadrotor_x"
;;
hexarotor_x)
AIRCRAFT_DIR="hexarotor_x"
MODEL_NAME="hexarotor_x"
;;
*)
echo "Unknown Model"
exit 1
esac
export JSBSIM_AIRCRAFT_DIR="$AIRCRAFT_DIR"
export JSBSIM_AIRCRAFT_MODEL="$MODEL_NAME"

24
Tools/sitl_run.sh
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@ -58,7 +58,11 @@ fi @@ -58,7 +58,11 @@ fi
if [ "$model" == "" ] || [ "$model" == "none" ]; then
echo "empty model, setting iris as default"
model="iris"
if [ "$program" == "jsbsim" ]; then
model="rascal"
else
model="iris"
fi
fi
# kill process names that might stil
@ -146,6 +150,21 @@ elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then @@ -146,6 +150,21 @@ elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
"${src_path}/Tools/flightgear_bridge/FG_run.py" "models/"${model}".json" 0
"${build_path}/build_flightgear_bridge/flightgear_bridge" 0 `./get_FGbridge_params.py "models/"${model}".json"` &
FG_BRIDGE_PID=$!
elif [ "$program" == "jsbsim" ] && [ -z "$no_sim" ]; then
source "$src_path/Tools/setup_jsbsim.bash" "${src_path}" "${build_path}" ${model}
if [[ -n "$HEADLESS" ]]; then
echo "not running flightgear gui"
else
fgfs --fdm=null \
--native-fdm=socket,in,60,,5550,udp \
--aircraft=$JSBSIM_AIRCRAFT_MODEL \
--airport=${world} \
--disable-hud \
--disable-ai-models &> /dev/null &
FGFS_PID=$!
fi
"${build_path}/build_jsbsim_bridge/jsbsim_bridge" "models/${JSBSIM_AIRCRAFT_DIR}" $JSBSIM_AIRCRAFT_MODEL ${model} "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml" $HEADLESS 2> /dev/null &
JSBSIM_PID=$!
fi
pushd "$rootfs" >/dev/null
@ -199,4 +218,7 @@ elif [ "$program" == "gazebo" ]; then @@ -199,4 +218,7 @@ elif [ "$program" == "gazebo" ]; then
elif [ "$program" == "flightgear" ]; then
kill $FG_BRIDGE_PID
kill -9 `cat /tmp/px4fgfspid_0`
elif [ "$program" == "jsbsim" ]; then
kill $JSBSIM_PID
kill $FGFS_PID
fi

88
platforms/posix/cmake/sitl_target.cmake
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@ -26,6 +26,7 @@ add_custom_target(run_config @@ -26,6 +26,7 @@ add_custom_target(run_config
px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/sitl_gazebo")
px4_add_git_submodule(TARGET git_jmavsim PATH "${PX4_SOURCE_DIR}/Tools/jMAVSim")
px4_add_git_submodule(TARGET git_flightgear_bridge PATH "${PX4_SOURCE_DIR}/Tools/flightgear_bridge")
px4_add_git_submodule(TARGET git_jsbsim_bridge PATH "${PX4_SOURCE_DIR}/Tools/jsbsim_bridge")
# Add support for external project building
include(ExternalProject)
@ -73,6 +74,20 @@ ExternalProject_Add(flightgear_bridge @@ -73,6 +74,20 @@ ExternalProject_Add(flightgear_bridge
BUILD_ALWAYS 1
)
ExternalProject_Add(jsbsim_bridge
SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/jsbsim_bridge
CMAKE_ARGS
-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
BINARY_DIR ${PX4_BINARY_DIR}/build_jsbsim_bridge
INSTALL_COMMAND ""
DEPENDS
git_jsbsim_bridge
USES_TERMINAL_CONFIGURE true
USES_TERMINAL_BUILD true
EXCLUDE_FROM_ALL true
BUILD_ALWAYS 1
)
# create targets for each viewer/model/debugger combination
set(viewers none jmavsim gazebo)
set(debuggers none ide gdb lldb ddd valgrind callgrind)
@ -161,6 +176,79 @@ foreach(viewer ${viewers}) @@ -161,6 +176,79 @@ foreach(viewer ${viewers})
endforeach()
endforeach()
# create targets for jsbsim
set(models_jsbsim none rascal quadrotor_x hexarotor_x)
set(worlds_jsbsim none LSZH)
foreach(debugger ${debuggers})
foreach(model ${models_jsbsim})
foreach(world ${worlds_jsbsim})
if (world STREQUAL "none")
if (debugger STREQUAL "none")
if (model STREQUAL "none")
set(_targ_name "jsbsim")
else()
set(_targ_name "jsbsim_${model}")
endif()
else()
if (model STREQUAL "none")
set(_targ_name "jsbsim__${debugger}_${world}")
else()
set(_targ_name "jsbsim_${model}_${debugger}_${world}")
endif()
endif()
add_custom_target(${_targ_name}
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
${debugger}
jsbsim
${model}
"LSZH"
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS
logs_symlink
)
list(APPEND all_posix_vmd_make_targets ${_targ_name})
add_dependencies(${_targ_name} px4 jsbsim_bridge)
else()
if (debugger STREQUAL "none")
if (model STREQUAL "none")
set(_targ_name "jsbsim___${world}")
else()
set(_targ_name "jsbsim_${model}__${world}")
endif()
else()
if (model STREQUAL "none")
set(_targ_name "jsbsim___${debugger}_${world}")
else()
set(_targ_name "jsbsim_${model}_${debugger}_${world}")
endif()
endif()
add_custom_target(${_targ_name}
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
${debugger}
jsbsim
${model}
${world}
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS
logs_symlink
)
list(APPEND all_posix_vmd_make_targets ${_targ_name})
add_dependencies(${_targ_name} px4 jsbsim_bridge)
endif()
endforeach()
endforeach()
endforeach()
#add flighgear targets
if( ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
set(models

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