ardupilot/Tools/autotest/aircraft/arducopter/plus_quad2.xml

<?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>
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