#include <SIM_JSBSim.h>

Inheritance diagram for SITL::JSBSim:

Collaboration diagram for SITL::JSBSim:

Public Member Functions
	JSBSim (const char home_str, const char frame_str)

void	update (const struct sitl_input &input)

Public Member Functions inherited from SITL::Aircraft
	Aircraft (const char home_str, const char frame_str)

void	set_speedup (float speedup)

void	set_instance (uint8_t _instance)

void	set_autotest_dir (const char *_autotest_dir)

virtual void	set_interface_ports (const char *address, const int port_in, const int port_out)

void	fill_fdm (struct sitl_fdm &fdm)

void	smooth_sensors (void)

float	get_rate_hz (void) const

const Vector3f &	get_gyro (void) const

const Vector3f &	get_velocity_ef (void) const

const Vector3f &	get_velocity_air_ef (void) const

const Matrix3f &	get_dcm (void) const

const Vector3f &	get_mag_field_bf (void) const

virtual float	gross_mass () const

const Location &	get_location () const

const Vector3f &	get_position () const

void	get_attitude (Quaternion &attitude) const

Static Public Member Functions
static Aircraft *	create (const char home_str, const char frame_str)

Static Public Member Functions inherited from SITL::Aircraft
static double	rand_normal (double mean, double stddev)

static bool	parse_home (const char *home_str, Location &loc, float &yaw_degrees)

Private Types
enum	{ FRAME_NORMAL, FRAME_ELEVON, FRAME_VTAIL }

Private Member Functions
bool	create_templates (void)

bool	start_JSBSim (void)

bool	open_control_socket (void)

bool	open_fdm_socket (void)

void	send_servos (const struct sitl_input &input)

void	recv_fdm (const struct sitl_input &input)

void	check_stdout (void)

bool	expect (const char *str)

void	drain_control_socket ()

Private Attributes
SocketAPM	sock_control

SocketAPM	sock_fgfdm

bool	initialised

uint16_t	control_port

uint16_t	fdm_port

char *	jsbsim_script

char *	jsbsim_fgout

int	jsbsim_stdout

const char *	jsbsim_model = "Rascal"

bool	created_templates

bool	started_jsbsim

bool	opened_control_socket

bool	opened_fdm_socket

enum SITL::JSBSim:: { ... }	frame

Additional Inherited Members
Protected Types inherited from SITL::Aircraft
enum	{ GROUND_BEHAVIOR_NONE = 0, GROUND_BEHAVIOR_NO_MOVEMENT, GROUND_BEHAVIOR_FWD_ONLY, GROUND_BEHAVIOR_TAILSITTER }

Protected Member Functions inherited from SITL::Aircraft
float	ground_height_difference () const

virtual bool	on_ground () const

float	hagl () const

void	update_position (void)

void	update_mag_field_bf (void)

void	time_advance ()

void	setup_frame_time (float rate, float speedup)

void	adjust_frame_time (float rate)

void	sync_frame_time (void)

void	add_noise (float throttle)

uint64_t	get_wall_time_us (void) const

void	update_dynamics (const Vector3f &rot_accel)

void	update_wind (const struct sitl_input &input)

float	filtered_idx (float v, uint8_t idx)

float	filtered_servo_angle (const struct sitl_input &input, uint8_t idx)

float	filtered_servo_range (const struct sitl_input &input, uint8_t idx)

void	extrapolate_sensors (float delta_time)

Protected Attributes inherited from SITL::Aircraft
SITL *	sitl

Location	home

Location	location

float	ground_level

float	home_yaw

float	frame_height

Matrix3f	dcm

Vector3f	gyro

Vector3f	gyro_prev

Vector3f	ang_accel

Vector3f	velocity_ef

Vector3f	wind_ef

Vector3f	velocity_air_ef

Vector3f	velocity_air_bf

Vector3f	position

float	mass

Vector3f	accel_body

float	airspeed

float	airspeed_pitot

float	battery_voltage = -1.0f

float	battery_current = 0.0f

float	rpm1 = 0

float	rpm2 = 0

uint8_t	rcin_chan_count = 0

float	rcin [8]

float	range = -1.0f

float	turbulence_azimuth = 0.0f

float	turbulence_horizontal_speed = 0.0f

float	turbulence_vertical_speed = 0.0f

Vector3f	mag_bf

uint64_t	time_now_us

const float	gyro_noise

const float	accel_noise

float	rate_hz

float	achieved_rate_hz

float	target_speedup

uint64_t	frame_time_us

float	scaled_frame_time_us

uint64_t	last_wall_time_us

uint8_t	instance

const char *	autotest_dir

const char *	frame

bool	use_time_sync = true

float	last_speedup = -1.0f

AP_Int8 *	ahrs_orientation

enum SITL::Aircraft:: { ... }	ground_behavior

bool	use_smoothing

AP_Terrain *	terrain

const float	FEET_TO_METERS = 0.3048f

const float	KNOTS_TO_METERS_PER_SECOND = 0.51444f

Detailed Description

Definition at line 30 of file SIM_JSBSim.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

private

Enumerator
FRAME_NORMAL
FRAME_ELEVON
FRAME_VTAIL

Definition at line 65 of file SIM_JSBSim.h.

Constructor & Destructor Documentation

◆ JSBSim()

SITL::JSBSim::JSBSim	(	const char *	home_str,
		const char *	frame_str
	)

Definition at line 39 of file SIM_JSBSim.cpp.

Referenced by create().

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Member Function Documentation

◆ check_stdout()

void SITL::JSBSim::check_stdout ( void )

private

Definition at line 242 of file SIM_JSBSim.cpp.

Referenced by open_fdm_socket(), recv_fdm(), and start_JSBSim().

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◆ create()

static Aircraft* SITL::JSBSim::create	(	const char *	home_str,
		const char *	frame_str
	)

inlinestatic

Definition at line 38 of file SIM_JSBSim.h.

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◆ create_templates()

bool SITL::JSBSim::create_templates ( void )

private

Definition at line 68 of file SIM_JSBSim.cpp.

Referenced by update().

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◆ drain_control_socket()

void SITL::JSBSim::drain_control_socket ( )

private

Definition at line 435 of file SIM_JSBSim.cpp.

Referenced by update().

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◆ expect()

bool SITL::JSBSim::expect ( const char * str )

private

Definition at line 256 of file SIM_JSBSim.cpp.

Referenced by start_JSBSim().

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◆ open_control_socket()

bool SITL::JSBSim::open_control_socket ( void )

private

Definition at line 279 of file SIM_JSBSim.cpp.

Referenced by start_JSBSim(), and update().

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◆ open_fdm_socket()

bool SITL::JSBSim::open_fdm_socket ( void )

private

Definition at line 303 of file SIM_JSBSim.cpp.

Referenced by start_JSBSim(), and update().

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◆ recv_fdm()

void SITL::JSBSim::recv_fdm ( const struct sitl_input & input )

private

Definition at line 399 of file SIM_JSBSim.cpp.

Referenced by update().

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◆ send_servos()

void SITL::JSBSim::send_servos ( const struct sitl_input & input )

private

Definition at line 322 of file SIM_JSBSim.cpp.

Referenced by recv_fdm(), and update().

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◆ start_JSBSim()

bool SITL::JSBSim::start_JSBSim ( void )

private

Definition at line 166 of file SIM_JSBSim.cpp.

Referenced by update().

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◆ update()

void SITL::JSBSim::update ( const struct sitl_input & input )

virtual

Implements SITL::Aircraft.

Definition at line 455 of file SIM_JSBSim.cpp.

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Member Data Documentation

◆ control_port

uint16_t SITL::JSBSim::control_port

private

Definition at line 51 of file SIM_JSBSim.h.

Referenced by create_templates(), and open_control_socket().

◆ created_templates

bool SITL::JSBSim::created_templates

private

Definition at line 60 of file SIM_JSBSim.h.

Referenced by create_templates().

◆ fdm_port

uint16_t SITL::JSBSim::fdm_port

private

Definition at line 52 of file SIM_JSBSim.h.

Referenced by create_templates(), and open_fdm_socket().

◆ frame

enum { ... } SITL::JSBSim::frame

Referenced by JSBSim(), and send_servos().

◆ initialised

bool SITL::JSBSim::initialised

private

Definition at line 49 of file SIM_JSBSim.h.

Referenced by update().

◆ jsbsim_fgout

char* SITL::JSBSim::jsbsim_fgout

private

Definition at line 54 of file SIM_JSBSim.h.

Referenced by create_templates(), and start_JSBSim().

◆ jsbsim_model

const char* SITL::JSBSim::jsbsim_model = "Rascal"

private

Definition at line 58 of file SIM_JSBSim.h.

Referenced by create_templates(), and JSBSim().

◆ jsbsim_script

char* SITL::JSBSim::jsbsim_script

private

Definition at line 53 of file SIM_JSBSim.h.

Referenced by create_templates(), and start_JSBSim().

◆ jsbsim_stdout

int SITL::JSBSim::jsbsim_stdout

private

Definition at line 55 of file SIM_JSBSim.h.

Referenced by check_stdout(), expect(), and start_JSBSim().

◆ opened_control_socket

bool SITL::JSBSim::opened_control_socket

private

Definition at line 62 of file SIM_JSBSim.h.

Referenced by open_control_socket().

◆ opened_fdm_socket

bool SITL::JSBSim::opened_fdm_socket

private

Definition at line 63 of file SIM_JSBSim.h.

Referenced by open_fdm_socket().

◆ sock_control

SocketAPM SITL::JSBSim::sock_control

private

Definition at line 44 of file SIM_JSBSim.h.

Referenced by drain_control_socket(), open_control_socket(), and send_servos().

◆ sock_fgfdm

SocketAPM SITL::JSBSim::sock_fgfdm

private

Definition at line 47 of file SIM_JSBSim.h.

Referenced by open_fdm_socket(), and recv_fdm().

◆ started_jsbsim

bool SITL::JSBSim::started_jsbsim

private

Definition at line 61 of file SIM_JSBSim.h.

Referenced by start_JSBSim().

The documentation for this class was generated from the following files:

libraries/SITL/SIM_JSBSim.h
libraries/SITL/SIM_JSBSim.cpp

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ JSBSim()

Member Function Documentation

◆ check_stdout()

◆ create()

◆ create_templates()

◆ drain_control_socket()

◆ expect()

◆ open_control_socket()

◆ open_fdm_socket()

◆ recv_fdm()

◆ send_servos()

◆ start_JSBSim()

◆ update()

Member Data Documentation

◆ control_port

◆ created_templates

◆ fdm_port

◆ frame

◆ initialised

◆ jsbsim_fgout

◆ jsbsim_model

◆ jsbsim_script

◆ jsbsim_stdout

◆ opened_control_socket

◆ opened_fdm_socket

◆ sock_control

◆ sock_fgfdm

◆ started_jsbsim