JSBSim 仿真

JSBSim is a open source flight simulator ("flight dynamics model (FDM)") that runs on Microsoft Windows, Apple Macintosh, Linux, IRIX, Cygwin (Unix on Windows), etc. Its features include: fully configurable aerodynamics and a propulsion system that can model complex flight dynamics of an aircraft. Rotational earth effects are also modeled into the dynamics.

Supported Vehicles: Plane, Quadrotor, Hexarotor

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Installation (Ubuntu Linux)

1. Install the usual Development Environment on Ubuntu LTS / Debian Linux.

2. Install a JSBSim release from the release page:

   dpkg -i JSBSim-devel_1.1.0.dev1-<release-number>.bionic.amd64.deb

3. (Optional) FlightGear may (optionally) be used for visualisation. To install FlightGear, refer to the FlightGear installation instructions).

运行仿真

JSBSim SITL simulation can be conveniently run through a make command as shown below:

cd /path/to/PX4-Autopilot
make px4_sitl jsbsim

以上指令启动了一个具有完整 UI 的载具。 If you want to run without the FlightGear UI, you can add HEADLESS=1 to the front of the make command.

The supported vehicles and make commands are listed below (click on the links to see the vehicle images).

载具类型	指令
标准构型的固定翼飞机	make px4_sitl jsbsim_rascal
四旋翼	make px4_sitl jsbsim_quadrotor_x
六旋翼	make px4_sitl jsbsim_hexarotor_x

The commands above launch a single vehicle with the full UI. QGroundControl should be able to automatically connect to the simulated vehicle.

更多信息

To run JSBSim with ROS:

1. Clone the px4-jsbsim-bridge package into your catkin workspace:

   cd <path_to_catkin_ws>/src
   git clone https://github.com/Auterion/px4-jsbsim-bridge.git

2. Build the jsbsim_bridge catkin package:

   catkin build jsbsim_bridge

1. So start JSBSim through ROS using the launch file as shown: ``` roslaunch jsbsim_bridge px4_jsbsim_bridge.launch ```

Further Information

• px4-jsbsim-bridge readme