Add models submodules in models directory. Update README

.gitmodules

@@ -0,0 +1,9 @@
+[submodule "models/FlightGear-Rascal"]
+	path = models/FlightGear-Rascal
+	url = https://github.com/ThunderFly-aerospace/FlightGear-Rascal.git
+[submodule "models/FlightGear-TF-G1"]
+	path = models/TF-G1
+	url = https://github.com/ThunderFly-aerospace/FlightGear-TF-G1.git
+[submodule "models/FlightGear-TF-R1"]
+	path = models/TF-R1
+	url = https://github.com/ThunderFly-aerospace/FlightGear-TF-R1.git

FG_run.py

@@ -39,7 +39,7 @@
 #get FGFS MODEL dir
 fgmodelsdir=os.getenv("FG_MODELS_DIR")
 if fgmodelsdir is None:
-    fgmodelsdir=fgroot+'/Aircraft'
+    fgmodelsdir='./models'
 
 #get FGFS EXTRA PARAMS dir
 fgargsex=os.getenv("FG_ARGS_EX")
@@ -52,12 +52,6 @@
     print('Cannot Write into direcotry: '+ protocols)
     exit(-1)
 
-#models=fgdata+'/Aircraft'
-#if not os.access(models, os.W_OK):
-#    print('Cannot Write into direcotry: '+ protocols)
-#    exit(-1)
-
-
 ############################ Parse Config ######################################
 
 with open(filename) as json_file:
@@ -71,10 +65,6 @@
 for c in controls:
     print(c[0]+' '+c[1]+' '+c[2])
 
-
-############################ Download Model #####################################
-#if not exists -- not implemend yet
-
 ############################ Create FG Input Protocol ###########################
 propertyList=ET.Element('PropertyList')
 generic= ET.SubElement(propertyList, 'generic')
@@ -127,7 +117,7 @@
     "--disable-clouds",
     "--disable-clouds3d",
     "--fog-fastest",
-    "--visibility=5000",
+    "--visibility=2000",
     "--disable-distance-attenuation",
     "--disable-real-weather-fetch",
     "--prop:/sim/rendering/particles=0",
@@ -143,10 +133,8 @@
     "--disable-horizon-effect"
 ]
 
-#without FG output
-commnad=fgbin+" "+fgargsex+" "+" ".join(parameters)+" 2> /dev/null  & echo $! > /tmp/px4fgfspid_"+str(px4id)
 #with FG output
-#commnad=fgbin+" "+fgargsex+" "+" ".join(parameters)+" & echo $! > /tmp/px4fgfspid_"+str(px4id)
+commnad=fgbin+" "+fgargsex+" "+" ".join(parameters)+" & echo $! > /tmp/px4fgfspid_"+str(px4id)
 
 print(commnad)
 os.system(commnad)

README.md

@@ -11,18 +11,19 @@ It connects to FG (over UDP generic protocol) and transforms the data to TCP MAV
 ### How to run the development version:
 
 #### Install:
-1) Install FlightGear.
-2) Install Models. Run ```fgfs --launcher``` on tab Add-ons add new a hangar http://location_of_oour_hangar. Install Rascal model from this hangar.
-3) Set write permissions to the `Protocols` folder of the FlightGear Data. On Ubuntu run ```sudo chmod a+w /usr/share/games/flightgear/Protocols ```
+1) Install FlightGear. In Ubuntu You can use install last stable FG from PAA repository by folowing commands: ```sudo add-apt-repository -y -u ppa:saiarcot895/flightgear``` and ```sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet install flightgear```
+2) Set write permissions to the `Protocols` folder of the FlightGear Data. On Ubuntu run ```sudo chmod a+w /usr/share/games/flightgear/Protocols```
 #### Run:
 1) Open [QgroundControl](http://qgroundcontrol.com/)
 2) In PX4Firmware folder run: ```make px4_sitl_nolockstep flightgear_rascal``` for plane.
 3) Wait until FlightGear fully loads.
 #### Known issue:
 1) If you have FPS lower than 20 it will not work correctly. Check your FPS. In FlightGear bridge look set View->View Options->Show frame rate
-2) Multiple models in hangar (with eletric engine) need up-to-date FlightGear from nightly budils.
-3) If you set-up mission take off to oposite direction than aircraft current heading, than the aircraft will fly directly forever.
-4) Internally starting scripts run ```fgfs``` with set of parameters to reduce graphic and connect FG to bridge. But before that, the starting script search for FG-Data folder by running ```fgfs --version```. If your output of this command does not contains FG_ROOT line, the script will not work. Check how is your FG run in system, by ```which fgfs```.
+2) You can use wild set of FG version - we tested instalation with FG 2019.1.1 and Nextgen FG (nightly builds). But in past I shorly tested basic functionality on Debian 9, FG 2016.1.1 from distribution repository, with some Racal (JSBSim) model.
+3) Default models used by bridge is placed in bridge models subdirectory (as git submodules). Multiple models in this directory need up-to-date FlightGear from nightly budils (e.g.: these with eletric engine).
+4) If you set-up mission take off to oposite direction than aircraft current heading, than the aircraft will fly directly forever. (maybe in other scenarios too). Nobody knows why.
+5) Internally starting scripts run ```fgfs``` with set of parameters to reduce graphic, connect FG to bridge and use model from subdirectory. But before that, the starting script search for FG-Data folder by running ```fgfs --version```. If your output of this command does not contains FG_ROOT line, the startup script and whole bridge will not work. Check how your system runs FG by commnad ```which fgfs```. Advanced Options of bridge may help.
+6) If you want more friendly plane, you can switch Rascal model from YASim physical engine to JSBSim physical engine by editing file ```models/rascal.json```. Substitue ```Rascal110-YASim``` by ```Rascal110-JSBSim```.
 
 ### Advanced Options
 

rascal.json → models/rascal.json

@@ -1,5 +1,5 @@
 {
-    "FgModel":"Rascal110-JSBSim",
+    "FgModel":"Rascal110-YASim",
     "Url":"https://github.com/ThunderFly-aerospace/FlightGear-Rascal/archive/master.zip",
     "Controls": [
                 ["5","/controls/flight/aileron","-1"],