Unreal Engine Fixed Wing

adam_badam · December 18, 2023, 11:44am

Hi. I want to control fixed wing plane in unreal engine with px4 autopilot .I know there is a plugin for px4 with jsbsim, and jsbsim with unreal. so how can i use them together ?.Is there plugin? or is there another fixed wing flight dynamics model for unreal engine which i can use with px4?

junwoo0914 · December 18, 2023, 7:05pm

I would point you to the following documentation:

adam_badam · December 19, 2023, 11:05am

Thanks for reply. I need fixed wing plane.as I know Airsim only have multirotor drone.

junwoo0914 · December 20, 2023, 4:04am

Seems like they have car & multirotor.

However there seems to have been some effort in implementing a plane model:

github.com/microsoft/AirSim

Fixed Wing Aircraft

opened 02:39PM - 20 Aug 20 UTC

AOS55

feature request fastphysics

# Fixed Wing Vehicle Integration I am working on adding a FixedWing aircraft …class into Airsim, so far I have been documenting my work under issue #2508 but as suggested by @rajat2004 it would be usefult to move this work to a new issue so as to improve visibility for others to work on. ### Work so far Please see this [post](https://github.com/microsoft/AirSim/issues/2508#issuecomment-674392713) for a detailed breakdown of what has been added in my [forked Airsim repository under the fixedwing branch](https://github.com/AOS55/AirSim-1/tree/FixedWing). I will aim to keep updates on this issue of new files, classes, methods & functions with a view to write comprehensive documentation as the code begins to get to a state where it can be merged back into the master branch on the main repo. Since the [last update post](https://github.com/microsoft/AirSim/issues/2508#issuecomment-674392713) on #2508 I have been updating the FixedWingLibClient files to enable communication with Ardupilot. A linked issue has been opened within the [ArduPilot Repo](https://github.com/ArduPilot/ardupilot/issues/15095). ### FixedWing Branch State - Compilable from Visual Studio: 🟢 - Runs alone in UE4: 🟢 - Runs with ArduPilot and Mavlink in UE4 over network: 🔴 - Model validated with real comparison: 🔴 ### Known issues - I can't compile the code from source in Visual Studio please see the [chain](https://github.com/microsoft/AirSim/issues/2508#issuecomment-675355753) back in #2508 for what we have tried so far. I think it is most likely a mistake I have made in the source code. <-- This is currently the most pressing issue. - I naievly initially implemented the control surfaces at seperate functions `getElevatorSignal()` etc. I am beginning to realise as I work through the control implementation this was not a good way to go about this and the program is already well setup to accept a more conventional control vector, i.e. the **u** vector in state-space form. I am planning to go back and correct this to a 4 row **u** vector. - The Core APIs I effectively copied over when setting up the controller files include several aspects that I don't think make sense for a Fixed Wing aircraft, for example [commandVelocityHold](https://github.com/AOS55/AirSim-1/blob/FixedWing/AirLib/include/vehicles/fixedwing/firmwares/mavlink/MavLinkFixedWingApi.hpp#L551) uses the function `moveByLocalVelocity` that takes a boolean `yaw mode` switch and `rate` as a command these are set as `false` and `0` in the current implementation. But, `moveByLocalVelocity` may be better of if rewritten for fixedwing. ### Planned Future Work Initially I am aiming to work to resolve all the known issues and turn all the 🔴 in the state to 🟢. Following from this I will aim to add the following functionality: [ ] Construct a similar Python API as in multirotor <-- hopefully a short term objective [ ] Implement Undercarriage for fixedWingLandings [ ] Deep Reinforcement Learning (DRL) based FW landings <-- main PhD objective, expect to write & publish a paper based on this [ ] Validate model and control on real UAV and FW aircraft, ties in with above. ### Motivation Principally this is for my PhD at the [University of Bristol](https://www.bristol.ac.uk/) where I am aiming to use a combination of computer vision and Deep Reinforcement Learning to train an autonomous fixedwing agent/aircraft to navigate to and safely land in an unknown location. This is both with and without power and on a range of fixedwing aircraft including fixedWing UAVs, gliders & multiengine light piston aircraft (<5700Kg). Not only this but when discussing AirSim with my colleagues we believe that having a fixedWing simulator capable of highfidelity graphics and SITL that is efficient will be of great benefit. ### Ongoing Development Several users have already been realy helpful (@rajat2004 😀), if anyone has any ideas about how to solve some of the issues I have described above all help is greatly appreciated. In particular if anyone is able to have any success compiling the [fixedwing source](https://github.com/AOS55/AirSim-1/tree/FixedWing) please let me know as I'm a little stumped 😕 as to why it won't compile.