Loading a custom aircraft model to jsbsim bridge

[oricabel]

Hello,
I have an aerodynamic model that I wrote in .XML format and I want to simulate it using the bridge, but I don't understand how.
I tried to copy the model's folder into a folder with the rest of the models that work (Rascal, Malolo, etc..), but when I try to run it the same way I run the others, it doesn't even recognize the model exists.

It is obvious I'm missing a few steps... can anyone please help?

[Jaeyoung-Lim]

@oricabel Could you elaborate exactly how you were trying to run your custom model and how it is failing?

[oricabel]

I tried to find the locations of other, working models (rascal, malolo) and add my model in the location, now I am sure this is not enough, perhaps the program needs to "know" that there is a new model, and if we ask to run it, it should use the models files. When I try to run my model, it just says that it does not recognize it, as if I wanted to run somthong that doesn't exist.

[Jaeyoung-Lim]

@oricabel Please share exactly how you "tried" and what the "not recognized" error is. Otherwise it is hard to know what is missing from what you are describing

[oricabel]

I took the model's folder named "Aeolus" (which contains it Aero model, setup file, engine, etc...) and pasted it to the following paths:
~/PX4-Autopilot/Tools/jsbsim_bridge/models/
~/PX4-Autopilot/src/px4-jsbsim-bridge/models/
~/PX4-Autopilot/Tools/flightgear_bridge/models/
These paths are where I found folders of other models (rascal, etc...).

I tried to run the simulation with the custom model using:
"make px4_sitl jsbsim_aeolus"

And received:
"ninja: error: unknown target 'jsbsim_aeolus'
Makefile:235: recipe for target 'px4_sitl' failed
make: *** [px4_sitl] Error 1"

For reference, if I just write some letters:
"make px4_sitl jsbsim_dgf"
I get the same error.

I hope the description here is sufficient.

[tayyabkhalil-313]

@oricabel You also have to add the custom model name in the cmake target list in the file PX4-Autopilot/platforms/posix/cmake/sitl_target.cmake in the portion set(models_jsbsim. After this, you have to add a airframe for the model in the airframes directory.

[raghu-srm]

@Jaeyoung-Lim , I have also implemented the custom aircraft with JSBSim., I am having the strange issue

1. My model is correclty loaded with px4_sitl
2. QGC connections established - working fine

The strange thing I am seeing is that,
When I give command : commander takeoff , I can see the throttle command goes to 100% in QGC, but aircraft not moving (remains stationary). I have collected otuputs from JSBSim using <output> tag in csv format ., In these csv file the commands which needs to be received from px4 like

1. fcs/rudder-cmd-norm
2. fcs/aileron-cmd-norm
3. fcs/elevator-cmd-norm
4. fcs/throttle-cmd-norm

are not updated, implying that px4 not communicating with JSBSim.,

NOTE: I have also mavlink config file under config/my_aircraft.xml.

Can you suggest where I need to check for the proper bridge?

[raghu-srm]

@Jaeyoung-Lim
I am seeing fcs mapping for elevator, aileron and rudder in for rascal.,
But where thrust is being mapped?

I am trying to develop sitl with F16 aircraft (xml's from JSBSim library)., All working fine., but even at throttle max (1) in JSBSim, engine not producing any thrust., I think somewhere mapping is not good for throttle - engine.,

I can see the clear movement of control surfaces (elevator, aileron, rudder) which all been deflected.,

[raghu-srm]

@kaklik Can you share insights on this?

[kaklik]

@kaklik Can you share insights on this?

Unfortunately, I am not able to contribute to that because I do not have experience with px4-jsbsim-bridge.

[raghu-srm]

I have understood the problem.,
f16 aircraft uses Turbine Engine., which needs to be started (starter) and fuel to be cutoff at correct sequence.,
With this existing bridge, only fcs/throttle-cmd-norm command is mapped with JSBSim.,
We need to somehow develop script to get the engine in run condition before px4 giving throttle command.,

@Jaeyoung-Lim , Pls correct me if I am wrong., and if possible suggest me how we can do this.,