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458420f9cb
* 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>
41 lines
985 B
Bash
Executable File
41 lines
985 B
Bash
Executable File
#!/bin/bash
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#
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# Setup environment to make JSBSim visible to PX4.
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#
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# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
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if [ "$#" != 3 ]; then
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echo -e "usage: source setup_jsbsim.bash src_dir build_dir model\n"
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return 1
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fi
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SRC_DIR="$1"
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BUILD_DIR="$2"
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MODEL="$3"
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export FG_AIRCRAFT="${SRC_DIR}/Tools/jsbsim_bridge/models"
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# This is needed for aircraft namespace mapping
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# Need more architectural discussions to make this more scalable
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case "$MODEL" in
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rascal)
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AIRCRAFT_DIR="Rascal"
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MODEL_NAME="Rascal110-JSBSim"
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;;
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quadrotor_x)
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AIRCRAFT_DIR="quadrotor_x"
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MODEL_NAME="quadrotor_x"
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;;
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hexarotor_x)
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AIRCRAFT_DIR="hexarotor_x"
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MODEL_NAME="hexarotor_x"
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;;
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*)
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echo "Unknown Model"
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exit 1
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esac
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export JSBSIM_AIRCRAFT_DIR="$AIRCRAFT_DIR"
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export JSBSIM_AIRCRAFT_MODEL="$MODEL_NAME"
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