ardupilot/Tools/autotest/aircraft/arducopter/arducopter.xml

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<?xml version="1.0"?>
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
<fdm_config xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" name="dflyer" version="2.0" release="ALPHA" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
<fileheader>
<author> James Goppert </author>
<filecreationdate> 2010-03-11 </filecreationdate>
<version>0.0 </version>
<description> Arducopter DIY Drones UAV. </description>
</fileheader>
<metrics>
<wingarea unit="M2"> 0.017</wingarea>
<wingspan unit="M"> 0.13 </wingspan>
<chord unit="FT"> 0.0 </chord>
<htailarea unit="FT2"> 0.0 </htailarea>
<htailarm unit="FT"> 0.0 </htailarm>
<vtailarea unit="FT2"> 0.0 </vtailarea>
<vtailarm unit="FT"> 0.0 </vtailarm>
<location name="AERORP" unit="IN">
<x> 0.00 </x>
<y> 0.00 </y>
<z> 0.00 </z>
</location>
<location name="EYEPOINT" unit="IN">
<x> 0.0 </x>
<y> 0.0 </y>
<z> 0.0 </z>
</location>
<location name="VRP" unit="IN">
<x>0</x>
<y>0</y>
<z>0</z>
</location>
</metrics>
<mass_balance>
<!--roughtly approximating this as a solid sphere with correct mass-->
<ixx unit="KG*M2"> 0.036 </ixx>
<iyy unit="KG*M2"> 0.036 </iyy>
<izz unit="KG*M2"> 0.036 </izz>
<emptywt unit="KG"> 1.0 </emptywt>
<location name="CG" unit="IN">
<x> 0.0 </x>
<y> 0.0 </y>
<z> 0.0 </z>
</location>
<pointmass name="Payload">
<weight unit="KG"> 0.0 </weight>
<location unit="IN">
<x> 0.0 </x>
<y> 0.0 </y>
<z> 0.0 </z>
</location>
</pointmass>
</mass_balance>
<ground_reactions>
<contact type="BOGEY" name="frontbase">
<location unit="M">
<x> -0.283 </x>
<y> 0.00 </y>
<z> -0.033</z>
</location>
<static_friction> 0.80 </static_friction>
<dynamic_friction> 0.50 </dynamic_friction>
<spring_coeff unit="N/M"> 800 </spring_coeff>
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff>
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound>
</contact>
<contact type="BOGEY" name="rearbase">
<location unit="M">
<x> 0.283 </x>
<y> 0.00 </y>
<z> -0.033</z>
</location>
<static_friction> 0.80 </static_friction>
<dynamic_friction> 0.50 </dynamic_friction>
<spring_coeff unit="N/M"> 800 </spring_coeff>
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff>
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound>
</contact>
<contact type="BOGEY" name="leftbase">
<location unit="M">
<x> 0.00 </x>
<y> 0.283 </y>
<z> -0.033</z>
</location>
<static_friction> 0.80 </static_friction>
<dynamic_friction> 0.50 </dynamic_friction>
<spring_coeff unit="N/M"> 800 </spring_coeff>
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff>
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound>
</contact>
<contact type="BOGEY" name="rightbase">
<location unit="M">
<x> 0.00 </x>
<y> -0.283 </y>
<z> -0.033</z>
</location>
<static_friction> 0.80 </static_friction>
<dynamic_friction> 0.50 </dynamic_friction>
<spring_coeff unit="N/M"> 800 </spring_coeff>
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff>
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound>
</contact>
</ground_reactions>
<!-- the front and rear motors spin clockwise, and the left and right motors spin counter-clockwise. -->
<propulsion>
<engine file="a2830-12" name="front">
<location unit="M">
<x> -0.283 </x>
<y> 0.00 </y>
<z> 0.00 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
<roll> 0.00 </roll>
<yaw> 0.00 </yaw>
</orient>
<feed>0</feed>
<thruster file="prop10x4.5">
<location unit="M">
<x> -0.283 </x>
<y> 0.00 </y>
<z> 0.125 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
<roll> 0.00 </roll>
<yaw> 0.00 </yaw>
</orient>
<sense> 1 </sense>
<p_factor> 10 </p_factor>
</thruster>
</engine>
<engine file="a2830-12" name="rear">
<location unit="M">
<x> 0.283 </x>
<y> 0.000 </y>
<z> 0.000 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
<roll> 0.00 </roll>
<yaw> 0.00 </yaw>
</orient>
<feed>0</feed>
<thruster file="prop10x4.5">
<location unit="M">
<x> 0.283 </x>
<y> 0.000 </y>
<z> 0.125 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
<roll> 0.00 </roll>
<yaw> 0.00 </yaw>
</orient>
<sense> 1 </sense>
<p_factor> 10 </p_factor>
</thruster>
</engine>
<engine file="a2830-12" name="left">
<location unit="M">
<x> 0.00 </x>
<y> 0.283 </y>
<z> 0.00 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
<roll> 0.00 </roll>
<yaw> 0.00 </yaw>
</orient>
<feed>0</feed>
<thruster file="prop10x4.5">
<location unit="M">
<x> 0.00 </x>
<y> 0.283 </y>
<z> 0.125 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
<roll> 0.00 </roll>
<yaw> 0.00 </yaw>
</orient>
<sense> -1 </sense>
<p_factor> 10 </p_factor>
</thruster>
</engine>
<engine file="a2830-12" name="right">
<location unit="M">
<x> 0.000 </x>
<y> -0.283 </y>
<z> 0.000 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
<roll> 0.00 </roll>
<yaw> 0.00 </yaw>
</orient>
<feed>0</feed>
<thruster file="prop10x4.5">
<location unit="M">
<x> 0.000 </x>
<y> -0.283 </y>
<z> 0.125 </z>
</location>
<orient unit="DEG">
<pitch> 90.00 </pitch>
<roll> 0.00 </roll>
<yaw> 0.00 </yaw>
</orient>
<sense> -1 </sense>
<p_factor> 10 </p_factor>
</thruster>
</engine>
<tank type="FUEL" number="0">
<location unit="M">
<x> 0.00 </x>
<y> 0.00 </y>
<z> -0.07 </z>
</location>
<!--have to have a fuel capacity, so setting it small-->
<capacity unit="KG"> 0.00000000001 </capacity>
<contents unit="KG"> 0.0 </contents>
</tank>
</propulsion>
<aerodynamics>
<axis name="LIFT">
</axis>
<axis name="DRAG">
<function name="aero/coefficient/CD0">
<description>Overall Drag</description>
<product>
<property>aero/qbar-psf</property>
<property>metrics/Sw-sqft</property>
<value>1</value>
</product>
</function>
</axis>
<axis name="SIDE">
</axis>
<axis name="ROLL">
</axis>
<axis name="PITCH">
</axis>
<axis name="YAW">
</axis>
</aerodynamics>
</fdm_config>
<!-- vim:ts=2:sw=2:expandtab -->