Add jsbsim_proxy for use with ArduPilot #111
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podhrmic
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Sep 24, 2024
| command -v JSBSim || echo "JSBSim not found" | ||
| $verse_opensut/src/jsbsim_proxy/jsbsim_proxy JSBSim \ | ||
| --suspend \ | ||
| --simulation-rate=1200 \ |
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is the sim rate really 1200Hz? Or does this mean something else?
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Yes, default sim rate for --model jsbsim is 1200 Hz. I did some experiments with lower sim rates, but the JSBSim physics model seems to become unstable below about 500 Hz.
| build/sitl/bin/arduplane \ | ||
| --synthetic-clock \ | ||
| --model jsbsim_ext \ | ||
| --speedup 1 \ |
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what does speedup 1 do? Does it mean effectively realtime speed?
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I'm not entirely sure - these options are copied from the defaults used in sim_vehicle.py
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This adds a
jsbsim_proxytool, which can be used in conjunction with the ArduPilot SITLjsbsim_extmodel (GaloisInc/verse-ardupilot#1) to run JSBSim on a separate machine from thearduplaneSITL binary. See thejsbsim_proxyREADME for instructions, and see the comment at the top ofjsbsim_proxy.cfor details of the design.Part of #97
Checklist before requesting a review