From 5abec6ec0d033733cb3f8e66e1b34966aeef0f68 Mon Sep 17 00:00:00 2001 From: Michael Oborne Date: Sat, 10 Dec 2011 05:51:09 +0800 Subject: [PATCH] add missing file for jsbsim --- .../aircraft/Rascal/Dialogs/config.xml | 92 + .../Release/aircraft/Rascal/Engines/18x8.xml | 51 + .../aircraft/Rascal/Engines/Zenoah_G-26A.xml | 8 + .../Release/aircraft/Rascal/Models/Rascal.rgb | Bin 0 -> 159167 bytes .../Rascal/Models/Rascal110-000-013.ac | 22017 ++++++++++++++++ .../aircraft/Rascal/Models/Rascal110.xml | 87 + .../Rascal/Models/Trajectory-Marker.ac | 30 + .../Rascal/Models/Trajectory-Marker.xml | 9 + .../Release/aircraft/Rascal/Models/smokeW.xml | 102 + .../bin/Release/aircraft/Rascal/README.Rascal | 244 + .../aircraft/Rascal/Rascal-keyboard.xml | 23 + .../aircraft/Rascal/Rascal-submodels.xml | 25 + .../bin/Release/aircraft/Rascal/Rascal.xml | 527 + .../aircraft/Rascal/Rascal110-JSBSim-set.xml | 172 + .../aircraft/Rascal/Rascal110-JSBSim.xml | 522 + .../aircraft/Rascal/Rascal110-splash.rgb | Bin 0 -> 768035 bytes .../aircraft/Rascal/Systems/110-autopilot.xml | 767 + .../aircraft/Rascal/Systems/airdata.nas | 40 + .../aircraft/Rascal/Systems/electrical.xml | 140 + .../Release/aircraft/Rascal/Systems/main.nas | 22 + .../Release/aircraft/Rascal/Systems/ugear.nas | 54 + .../Release/aircraft/Rascal/reset_CMAC.xml | 11 + .../aircraft/arducopter/Engines/a2830-12.xml | 4 + .../arducopter/Engines/prop10x4.5.xml | 76 + .../arducopter/Models/_propeller0_.skb | Bin 0 -> 43493 bytes .../arducopter/Models/_propeller0_.skp | Bin 0 -> 44219 bytes .../aircraft/arducopter/Models/arducopter.ac | 15492 +++++++++++ .../aircraft/arducopter/Models/arducopter.xml | 88 + .../bin/Release/aircraft/arducopter/README | 3 + .../aircraft/arducopter/arducopter-set.xml | 93 + .../aircraft/arducopter/arducopter.xml | 248 + .../arducopter/data/arducopter_half_step.txt | 9239 +++++++ .../arducopter/data/arducopter_step.txt | 11813 +++++++++ .../arducopter/data/rw_generic_pylon.ac | 2666 ++ .../Release/aircraft/arducopter/initfile.xml | 12 + .../aircraft/arducopter/plus_quad2-set.xml | 93 + .../aircraft/arducopter/plus_quad2.xml | 248 + 37 files changed, 65018 insertions(+) create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Dialogs/config.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Engines/18x8.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Engines/Zenoah_G-26A.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/Rascal.rgb create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/Rascal110-000-013.ac create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/Rascal110.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/Trajectory-Marker.ac create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/Trajectory-Marker.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/smokeW.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/README.Rascal create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal-keyboard.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal-submodels.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal110-JSBSim-set.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal110-JSBSim.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal110-splash.rgb create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Systems/110-autopilot.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Systems/airdata.nas create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Systems/electrical.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Systems/main.nas create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Systems/ugear.nas create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/reset_CMAC.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/Engines/a2830-12.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/Engines/prop10x4.5.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/Models/_propeller0_.skb create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/Models/_propeller0_.skp create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/Models/arducopter.ac create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/Models/arducopter.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/README create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/arducopter-set.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/arducopter.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/data/arducopter_half_step.txt create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/data/arducopter_step.txt create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/data/rw_generic_pylon.ac create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/initfile.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/plus_quad2-set.xml create mode 100644 Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/plus_quad2.xml diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Dialogs/config.xml b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Dialogs/config.xml new file mode 100644 index 0000000000..fde85591a3 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Dialogs/config.xml @@ -0,0 +1,92 @@ + + + + rascal-config + vbox + 40 + 40 + + + hbox + + true + + + + + + true + + + + + + + + table + + + + 0 0 + left + + /ugear/settings/ap-enable + true + + dialog-apply + + + + + + 1 0 + left + + /ugear/settings/turret-enable + true + + dialog-apply + + + + + + 2 0 + left + + /sim/multiplay/generic/int[0] + true + + dialog-apply + + + + + + 3 0 + left + + /sim/multiplay/generic/int[1] + true + + dialog-apply + + + + + + + + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Engines/18x8.xml b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Engines/18x8.xml new file mode 100644 index 0000000000..3dd84ebec3 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Engines/18x8.xml @@ -0,0 +1,51 @@ + + + + + + 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3 +refs 3 +30 0 0 +31 0 0 +2 0 0 +SURF 0x30 +mat 3 +refs 3 +31 0 0 +32 0 0 +2 0 0 +SURF 0x30 +mat 3 +refs 3 +32 0 0 +0 0 0 +2 0 0 +kids 0 diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/Rascal110.xml b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/Rascal110.xml new file mode 100644 index 0000000000..f4170ff362 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/Rascal110.xml @@ -0,0 +1,87 @@ + + + + + Rascal110-000-013.ac + + + Aircraft/Rascal/Models/smokeW.xml + + 2.0 + 0.0 + 0.0 + 0 + 0 + 0 + + + + + rotate + L_Aileron + /surface-positions/left-aileron-pos-norm + 20.0 +
+ 0.735 + -0.450 + 0.139 +
+ + 0.037 + 1.0 + -0.029 + + + + + rotate + R_Aileron + /surface-positions/right-aileron-pos-norm + 20.0 +
+ 0.735 + 0.450 + 0.139 +
+ + -0.037 + 1.0 + 0.029 + + + + + rotate + Elevator + /surface-positions/elevator-pos-norm + 35.0 +
+ 1.752 + 0.0 + 0.051 +
+ + 0.0 + 1.0 + 0.0 + + + + + rotate + Rudder + /surface-positions/rudder-pos-norm + 35.0 +
+ 1.752 + 0.0 + 0.0 +
+ + 0.0 + 0.0 + 1.0 + + + + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/Trajectory-Marker.ac b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/Trajectory-Marker.ac new file mode 100644 index 0000000000..4daabfce06 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/Trajectory-Marker.ac @@ -0,0 +1,30 @@ +AC3Db +MATERIAL "ac3dmat9" rgb 0 0 1 amb 0 0 1 emis 0 0 1 spec 0 0 1 shi 0 trans 0 +MATERIAL "ac3dmat3" rgb 1 0 0 amb 1 0 0 emis 1 0 0 spec 1 0 0 shi 0 trans 0 +OBJECT world +kids 2 +OBJECT poly +name "line" +loc 0 0.5 0 +numvert 2 +0 0.5 0 +0 -0.5 0 +numsurf 1 +SURF 0x22 +mat 0 +refs 2 +0 0 1 +1 0 0 +kids 0 +OBJECT poly +name "line" +numvert 2 +0 0 -3 +0 0 3 +numsurf 1 +SURF 0x22 +mat 1 +refs 2 +0 0 1 +1 0 0 +kids 0 diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/Trajectory-Marker.xml b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/Trajectory-Marker.xml new file mode 100644 index 0000000000..f0897f2c6f --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/Trajectory-Marker.xml @@ -0,0 +1,9 @@ + + + + + + + Trajectory-Marker.ac + + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/smokeW.xml b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/smokeW.xml new file mode 100644 index 0000000000..604286c226 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Models/smokeW.xml @@ -0,0 +1,102 @@ + + + + + + + + + smoke + + + 0.000 + 0.000 + -0.000 + 0.000 + 0.000 + 0.000 + + + smoke.png + + + sim/multiplay/generic/int[0] + + + false + false + billboard + world + + + point + + + + 10 + 86 + -1.5 + 8 + + 10 + 2.5 + + + 5 + 5 + 5 + 60 + 60 + 60 + + + + + + 100 + 1 + + + + + + + 0.9 + 0.9 + 0.9 + 0.3 + + + 0.3 + + + + + + 0.900 + 0.900 + 0.900 + 0.001 + + + 10.0 + + + + + 60 + + + 0.001 + 1.0 + + + + air + false + true + + + + + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/README.Rascal b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/README.Rascal new file mode 100644 index 0000000000..d6c7c6ac25 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/README.Rascal @@ -0,0 +1,244 @@ +This model is based on the Rascal110 from FlightGear, and adapted for +use in the ArduPilot test system. Many thanks to all who have +contributed! + + + + + +This information has not been updated for the Rascal, please ignore, we +are still at pre-pre-pre-alpha with this model! + +PIPER J3 CUB PERFORMANCE DATA +============================= + +[This information is copied from the 1946 J3C-65 owner's handbook.] + + FLYING HINTS + +The Piper Cub Special represents more than 15 years of diligent +aircraft engineering and manufacturing experience. Its simplicity of +design and construction, its low operating and maintenance costs, its +inherent stability, ruggedness, and its outstanding safety and ease of +flying, have made it the most popular airplane in aviation history. +The Piper Cub Special is the time-tested product of millions of hours +of flying under all conceivable conditions both in the military and in +peace time. + +There are hints on starting, flying, stopping, and other related +topics that are important to the owner who wants to conserve his +airplane -- keep it in maximum airworthy condition -- and enjoy a full +measure of flying satisfaction. + + +First, each pilot should become familiar enough with his Piper Cub +Special that he can accomplish a satisfactory pre-flight inspection. +This check is simple and requires only a few minutes. See Section IX +for check list. Daily check of airplane prior to flight should be the +first in a number of safe flying habits the pilot should acquire. + + +A. BEFORE STARTING ENGINE + +(1) Make routine check of gasoline supply. Visible fuel gauge is +integral part of gas tank cap; it will not show number of gallons but +will show proportion of fuel in tank by length of rod which extends +upward from cap. A full tank of 12 U.S. gallons will be indicated by +11 inches of rod extending beyond cap. Keep gas gauge rod clean and +smooth with crocus cloth for accuracy and freedom of movement. + +(2) Check oil level in engine sump by removing oil cap and gauge. Oil +stick should indicate oil level up to index mark of 4 quarts. + +(3) Check freedom of movement of flight and engine controls. + + +B. STARTING ENGINE + +(1) Chock wheels, or have occupant who is familiar with controls set +brakes in cabin. + +(2) Ignition switch OFF. Verify. + +(3) Set throttle approximately 1/10 open. + +(4) Push fuel shut-off ON. + +(5) Turn propeller through several times. + +(6) Turn ignition switch ON. + +(7) Start engine by pulling propeller through with a snap. + +CAUTION -- Always handle propeller as if switch were "ON." Stand as +far in front of propeller as possible. Use both hands and grasp one +blad approximately midway from tip. Do not overgrasp blade. Do not +wear long, loose clothing. Make sure footing is sure to preclude +possibility of feet slipping. + +(8) If engine does not start, turn switch OFF. Turn primer knob to +unlock, pull out, pump three or four times, then reseat primer and +lock by turning in opposite direction. In extremely cold weather a +few strokes of the primer as the engine starts will enable it to keep +running. NOTE -- Avoid excessive priming as it causes raw gasoline to +wash lubricating oil from engine cylinder walls. Do not prime warm +engine. + +(9) Repeat starting procedures 6, 7. + +(10) If engine loads up and refuses to start, turn ignition switch +"OFF,", open throttle wide and turn propeller through backwards +several times to unload excessive gas mixture in cylinders. Then +close throttle and repeat starting procedure. + + +C. ENGINE WARM-UP + +(1) As soon as engine starts, advance throttle slightly to idle at 700 +R.P.M. Check engine instruments. If oil pressure gauge does not +indicate pressure within 30 seconds, stop engine immediately, check +and correct trouble before any further operation. Oil temperature +during operating should not rise above 200° F. and oil pressure should +not fall below 30 pounds. With engine warm, idling speed should be +550-600 R.P.M. + +(2) Rev engine up to 2100 R.P.M. on both magnetos. Switch to LEFT and +RIGHT magnetos. R.P.M. drop should not be over 75 R.P.M. CAUTION +--Do not operate engine on either single magneto for more than 30 +seconds at a time, as this tends to foul the non-operating spark plugs +in the ignition circuit of the magneto that is switched off. + + +D. STOPPING ENGINE + +(1) Never cut switch immediately after landing as this causes engine +to cool too rapidly. + +(2) Idle engine, especially in high temperature operating conditions, +for several minutes. It is advisable to switch to each magneto for 30 +second intervals to allow gradual cooling of engine. This helps to +prevent overheating of spark plug insulators and will lessen tendency +for "after-firing." + +(3) Check for carburetor heat OFF during idling. + + +E. TAXIING + +(1) Open throttle to start airplane in motion; then close throttle to +a setting sufficient to keep airplane rolling. Do not keep throttle +advanced so that it is necessary to control taxi speed of airplane +with brakes. This causes unnecessary wear and tear on brakes and +tires. + +(2) Taxi slowly (speed of a fast walk) controlling direction with +rudder which is connected to a steerable tail wheel. Use brakes only +for positive, precision ground control when necessary. + +(3) Taxi upwind with stick back; downwind with stick foreward. When +ground winds are in excess of 15 M.P.H., turn into wind using ailerons +in direction of turn; apply ailerons away from the turn when turning +downwind. This procedure helps to prevent the wind "picking up" a +wing during windy, gusty conditions. Always make ground turns slowly. + + +F. GENERAL FLYING + +(1) For takeoff use full throttle, heading into wind. Airplane loaded +will become airborne at approximately 39 M.P.H. Best climb speed is +an indicated 55 M.P.H. + +(2) Indicated R.P.M. for cruising speed of 73 M.P.H. is 2150. +Take-off R.P.M. is 2300. Do not fly at full throttle over 3 minutes. + +(3) Use CARBURETOR AIR HEAT when engine runs "rough" and tachometer +shows drop in R.P.M. which may be due to ice forming in carburetor. +Tachometer should recover to within 50 R.P.M. below normal when using +carburetor heat. Push heater to "OFF" position, and if icing +condition has been cleared, R.P.M. should return to normal. Continued +use of carburetor heat will only cause increased fuel consumption and +loss of power. + +(4) Maximum permissible diving speed is 122 M.P.H. + + +G. APPROACH AND LANDING + +(1) Push carburetor heat ON prior to throttling back for glide, or for +any other flight maneuver. + +(2) Glide between 50-60 M.P.H. depending upon loading of airplane and +gust conditions. + +NOTE -- "Clear" engine by opening throttle gently, every 200-250 feet +of descent during a long glide so that engine temperature will be +maintained. + +Throttle action on the part of the pilot should be smooth and gentle +at all times. + + +H. PARKING AND MOORING + +(1) After termination of flight, enter flying time in aircraft and +engine log books. + +(2) Turn ignition and fuel OFF. + +(3) Chcok the wheels of airplane. + +(4) If airplane is not to be flown for some time, it should be +hangared or tied down. Use good quality 1/2" - 5/8" diameter rope. +Secure to lift assist handle at aft end of fuselage; also at upper end +of both front wing lift struts where they attach to wing. Make sure +that rope passes between aileron cable and lift strut. Mooring ropes, +when airplane is tied down, should have no slack. + +(5) Lock aileron and elevator controls by wrapping front seat belt +completely around rear control stick, tighten and buckle. + +(6) Under excessively wind conditions, airplane should be tailed into +wind for mooring. + + + + +[Here is my older information.] + +These are the only numbers I could find. They are for a J3 Cub with +an 85HP engine rather than 65 hp, so some adjustments may be +necessary. The source is + + http://www.evergreenfs.com/planedata.htm + + +Speeds +------ + Best rate of climb (Vy): 65 mph (57 kt) + Best angle of climb (Vx): 55 mph (48 kt) + Cruise: 70 mph (61 kt) + Never-exceed (Vne): 122 mph (106 kt) + Best Glide (Vglide): 60 mph (52 kt) + Stall (Vs): 38 mph (33 kt) + Maneuvering (Va): 70 mph (61 kt) + Approach: 50-60 mph (44-52 kt) + +Power +----- + Take off: full + Climb: 50 rpm below full + Cruise: 2300 rpm + Approach: 1200 rpm + Practice stalls: 1200 rpm + +Distances +--------- + Take-off: 450-800 ft + Landing: 200-800 ft + +Fuel +---- + Total fuel: 12 gal US + Usable fuel: 12 gal US + Grade: 80/87 + GPH: 5 gal US/hr diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal-keyboard.xml b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal-keyboard.xml new file mode 100644 index 0000000000..a29892cc1f --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal-keyboard.xml @@ -0,0 +1,23 @@ + + + + + + Ctrl-I + Show configuration dialog + + nasal + + + + + + S + Toggle smoke + + property-toggle + sim/multiplay/generic/int[0] + + + + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal-submodels.xml b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal-submodels.xml new file mode 100644 index 0000000000..2ebff47f53 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal-submodels.xml @@ -0,0 +1,25 @@ + + + + + + trajectory marker + Aircraft/Rascal/Models/Trajectory-Marker.xml + /sim/multiplay/generic/int[1] + 0 + true + 0.75 + -1 + -0.5 + 0.0 + -0.08 + 0.0 + 0.0 + 1000000000.00 + 600 + 32 + false + false + + + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal.xml b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal.xml new file mode 100644 index 0000000000..7ec9446d08 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal.xml @@ -0,0 +1,527 @@ + + + + + + Author Name + Creation Date + Version + Models a rascal + + + + 10.57 + 9.17 + 1.15 + 1.69 + 3.28 + 1.06 + 0 + + 37.4 + 0 + 0 + + + 20 + 0 + 5 + + + 0 + 0 + 0 + + + + + 1.95 + 1.55 + 1.91 + 0 + 0 + 0 + 13 + + 36.4 + 0 + 4 + + + + + + + 33.1 + -9.9 + -13.1 + + 1.0 + 0.8 + 0.02 + 12 + 1 + 0.0 + NONE + 0 + + + + 33.1 + 9.9 + -13.1 + + 1.0 + 0.8 + 0.02 + 12 + 1 + 0.0 + NONE + 0 + + + + 68.9 + 0 + + -7.8 + + 1.0 + 0.8 + 0.02 + 12 + 1 + 360.0 + NONE + 0 + + + + + + + 36 + 0 + 0 + + + 0.0 + 0 + 0 + + 0 + + + 1 + 0 + 0 + + + 0.0 + 0.0 + 0.0 + + 1.0 + + + + + 36.36 + 0 + -1.89375 + + 1.5 + 1.5 + + + + + + + + fcs/elevator-cmd-norm + fcs/pitch-trim-cmd-norm + + -1 + 1 + + + + + fcs/pitch-trim-sum + + -0.35 + 0.3 + + fcs/elevator-pos-rad + + + + fcs/elevator-pos-rad + + -0.3 + 0.3 + + + -1 + 1 + + fcs/elevator-pos-norm + + + + fcs/aileron-cmd-norm + fcs/roll-trim-cmd-norm + + -1 + 1 + + + + + fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/left-aileron-pos-rad + + + + -fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/right-aileron-pos-rad + + + + fcs/left-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/left-aileron-pos-norm + + + + fcs/right-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/right-aileron-pos-norm + + + + fcs/rudder-cmd-norm + fcs/yaw-trim-cmd-norm + + -1 + 1 + + + + + fcs/rudder-command-sum + + -0.35 + 0.35 + + fcs/rudder-pos-rad + + + + fcs/rudder-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/rudder-pos-norm + + + + + + + + Drag_at_zero_lift + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -1.5700 1.5000 + -0.2600 0.0560 + 0.0000 0.0280 + 0.2600 0.0560 + 1.5700 1.5000 + +
+ + + + Induced_drag + + aero/qbar-psf + metrics/Sw-sqft + aero/cl-squared + 0.0400 + + + + Drag_due_to_sideslip + + aero/qbar-psf + metrics/Sw-sqft + + aero/beta-rad + + -1.5700 1.2300 + -0.2600 0.0500 + 0.0000 0.0000 + 0.2600 0.0500 + 1.5700 1.2300 + +
+ + + + Drag_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-norm + 0.0300 + + + + + + + Side_force_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + aero/beta-rad + -1.0000 + + + + + + + Lift_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -0.2000 -0.7500 + 0.0000 0.2500 + 0.2300 1.4000 + 0.6000 0.7100 + +
+ + + + Lift_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-rad + 0.2000 + + + + + + + Roll_moment_due_to_beta + + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + -0.1000 + + + + Roll_moment_due_to_roll_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/p-aero-rad_sec + -0.4000 + + + + Roll_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + 0.1500 + + + + Roll_moment_due_to_aileron + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/left-aileron-pos-rad + + velocities/mach + + 0.0000 0.1300 + 2.0000 0.0570 + +
+ + + + Roll_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + 0.0100 + + + + + + + Pitch_moment_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/alpha-rad + -0.5000 + + + + Pitch_moment_due_to_elevator + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + fcs/elevator-pos-rad + + velocities/mach + + 0.0000 -0.5000 + 2.0000 -0.2750 + +
+ + + + Pitch_moment_due_to_pitch_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + velocities/q-aero-rad_sec + -12.0000 + + + + Pitch_moment_due_to_alpha_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + aero/alphadot-rad_sec + -7.0000 + + + + + + + Yaw_moment_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + 0.1200 + + + + Yaw_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + -0.1500 + + + + Yaw_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + -0.0500 + + + + Adverse_yaw + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/left-aileron-pos-rad + -0.0300 + + + + Yaw_moment_due_to_tail_incidence + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + 0.0007 + + + + + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal110-JSBSim-set.xml b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal110-JSBSim-set.xml new file mode 100644 index 0000000000..9787a7f78a --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal110-JSBSim-set.xml @@ -0,0 +1,172 @@ + + + + + + + Rascal 110 (R/C) + Lee Elliot (3D) Dave Culp (JSBsim dynamics) and Curt Olson + 0.1 + 400 + + + Aircraft/Rascal/Rascal110-splash.rgb + + + jsb + Rascal110-JSBSim + 0.8 + + + + Aircraft/Rascal/Systems/110-autopilot.xml + + + Aircraft/Rascal/Systems/electrical.xml + + + + + Aircraft/Generic/generic-sound.xml + + + + false + + + + Aircraft/Rascal/Models/Rascal110.xml + + + + true + + 0.0 + -0.15 + 0.9 + 0 + + + + + 1 + Aircraft/Rascal/Rascal-submodels.xml + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + + 0.5 + + + + + 1 + + 0 + 0 + + + + + Rascal 110 (Sig Mfg) + Cruise speed: 60 kts + Never-exceed (Vne): 85 kts + Best Glide (Vglide): 20 kts + Maneuvering (Va): 50 kts + Approach speed: 20-25 kts + Stall speed (Vs): 15 kts + + + + + + + Aircraft/Rascal/Systems/main.nas + Aircraft/Rascal/Systems/airdata.nas + Aircraft/Rascal/Systems/ugear.nas + + + + + + + 2 + + + + + + + + + + -0.01 + 0.00 + 0.00 + + + + 3 + + + + + + + + + 700 + + + + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal110-JSBSim.xml b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal110-JSBSim.xml new file mode 100644 index 0000000000..732420cf12 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal110-JSBSim.xml @@ -0,0 +1,522 @@ + + + + + + Author Name + Creation Date + Version + Models a rascal + + + + 10.57 + 9.17 + 1.15 + 1.69 + 3.28 + 1.06 + 0 + + 37.4 + 0 + 0 + + + 20 + 0 + 5 + + + 0 + 0 + 0 + + + + + 1.95 + 1.55 + 1.91 + 0 + 0 + 0 + 13 + + 36.4 + 0 + 4 + + + + + + + 33.1 + -9.9 + -13.1 + + 0.8 + 0.5 + 0.02 + 120 + 20 + 0.0 + LEFT + 0 + + + + 33.1 + 9.9 + -13.1 + + 0.8 + 0.5 + 0.02 + 120 + 20 + 0.0 + RIGHT + 0 + + + + 68.9 + 0 + -6.6 + + 0.8 + 0.5 + 0.02 + 24 + 20 + 360.0 + NONE + 0 + + + + + + + 36 + 0 + 0 + + + 0.0 + 0 + 0 + + 0 + + + 1 + 0 + 0 + + + 0.0 + 0.0 + 0.0 + + 1.0 + + + + + 36.36 + 0 + -1.89375 + + 1.5 + 1.5 + + + + + + + + fcs/elevator-cmd-norm + fcs/pitch-trim-cmd-norm + + -1 + 1 + + + + + fcs/pitch-trim-sum + + -0.35 + 0.3 + + fcs/elevator-pos-rad + + + + fcs/elevator-pos-rad + + -0.3 + 0.3 + + + -1 + 1 + + fcs/elevator-pos-norm + + + + fcs/aileron-cmd-norm + fcs/roll-trim-cmd-norm + + -1 + 1 + + + + + fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/left-aileron-pos-rad + + + + -fcs/roll-trim-sum + + -0.35 + 0.35 + + fcs/right-aileron-pos-rad + + + + fcs/left-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/left-aileron-pos-norm + + + + fcs/right-aileron-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/right-aileron-pos-norm + + + + fcs/rudder-cmd-norm + fcs/yaw-trim-cmd-norm + + -1 + 1 + + + + + fcs/rudder-command-sum + + -0.35 + 0.35 + + fcs/rudder-pos-rad + + + + fcs/rudder-pos-rad + + -0.35 + 0.35 + + + -1 + 1 + + fcs/rudder-pos-norm + + + + + + + + Drag_at_zero_lift + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -1.5700 1.5000 + -0.2600 0.0560 + 0.0000 0.0280 + 0.2600 0.0560 + 1.5700 1.5000 + +
+ + + + Induced_drag + + aero/qbar-psf + metrics/Sw-sqft + aero/cl-squared + 0.0400 + + + + Drag_due_to_sideslip + + aero/qbar-psf + metrics/Sw-sqft + + aero/beta-rad + + -1.5700 1.2300 + -0.2600 0.0500 + 0.0000 0.0000 + 0.2600 0.0500 + 1.5700 1.2300 + +
+ + + + Drag_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-norm + 0.0300 + + + + + + + Side_force_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + aero/beta-rad + -1.0000 + + + + + + + Lift_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + + aero/alpha-rad + + -0.2000 -0.7500 + 0.0000 0.2500 + 0.2300 1.4000 + 0.6000 0.7100 + +
+ + + + Lift_due_to_Elevator_Deflection + + aero/qbar-psf + metrics/Sw-sqft + fcs/elevator-pos-rad + 0.2000 + + + + + + + Roll_moment_due_to_beta + + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + -0.1000 + + + + Roll_moment_due_to_roll_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/p-aero-rad_sec + -0.4000 + + + + Roll_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + 0.1500 + + + + Roll_moment_due_to_aileron + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/left-aileron-pos-rad + + velocities/mach + + 0.0000 0.1300 + 2.0000 0.0570 + +
+ + + + Roll_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + 0.0100 + + + + + + + Pitch_moment_due_to_alpha + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/alpha-rad + -0.5000 + + + + Pitch_moment_due_to_elevator + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + fcs/elevator-pos-rad + + velocities/mach + + 0.0000 -0.5000 + 2.0000 -0.2750 + +
+ + + + Pitch_moment_due_to_pitch_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + velocities/q-aero-rad_sec + -12.0000 + + + + Pitch_moment_due_to_alpha_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/cbarw-ft + aero/ci2vel + aero/alphadot-rad_sec + -7.0000 + + + + + + + Yaw_moment_due_to_beta + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/beta-rad + 0.1200 + + + + Yaw_moment_due_to_yaw_rate + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + aero/bi2vel + velocities/r-aero-rad_sec + -0.1500 + + + + Yaw_moment_due_to_rudder + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/rudder-pos-rad + -0.0500 + + + + Adverse_yaw + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + fcs/left-aileron-pos-rad + -0.0300 + + + + Yaw_moment_due_to_tail_incidence + + aero/qbar-psf + metrics/Sw-sqft + metrics/bw-ft + 0.0007 + + + + + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Rascal110-splash.rgb 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false + + /autopilot/locks/heading + dg-heading-hold + + + /autopilot/internal/fdm-heading-bug-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -0.1 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Heading Bug Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + dg-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + True Heading Hold (DG based) Stage 1 + false + + /autopilot/locks/heading + true-heading-hold + + + /autopilot/internal/true-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + True Heading Hold (DG based) Stage 2 + false + + /autopilot/locks/heading + true-heading-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + Nav1 Hold Stage 1 + false + + /autopilot/locks/heading + nav1-hold + + + /autopilot/internal/nav1-heading-error-deg + + + 0.0 + + + /autopilot/internal/target-roll-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 10.0 + 0.00001 + -20.0 + 20.0 + + + + + + Nav1 Hold Stage 2 + false + + /autopilot/locks/heading + nav1-hold + + + /orientation/roll-deg + + + /autopilot/internal/target-roll-deg + + + /controls/flight/aileron + + + 0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.01 + -1.0 + 1.0 + + + + + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + pitch-hold + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + Pitch hold w/ yoke + false + + /autopilot/locks/altitude + pitch-hold-yoke + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + AOA hold + false + + /autopilot/locks/altitude + aoa-hold + + + /orientation/alpha-deg + + + /autopilot/settings/target-aoa-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + Altitude Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + altitude-hold + + + /position/altitude-ft + + + /autopilot/settings/target-altitude-ft + + + /autopilot/internal/target-climb-rate-fps + + + 0.3 + 0.0 + -8.33 + 8.33 + + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + altitude-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /autopilot/settings/target-pitch-deg + + + 0.5 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.00001 + -5.0 + 5.0 + + + + + + + Pitch hold + false + + /autopilot/locks/altitude + altitude-hold + true + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + AGL Hold (Altimeter based) Stage 1 + false + + /autopilot/locks/altitude + agl-hold + + + /position/altitude-agl-ft + + + /autopilot/settings/target-agl-ft + + + /autopilot/internal/target-climb-rate-fps + + + 1.0 + 1.0 + 0.1 + 0.0 + + 25.0 + 0.000000001 + -16.67 + 8.33 + + + + + + Altitude Hold (Altimeter based) Stage 2 + false + + /autopilot/locks/altitude + agl-hold + + + /velocities/vertical-speed-fps + + + /autopilot/internal/target-climb-rate-fps + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Glideslop Hold + false + + /autopilot/locks/altitude + gs1-hold + + + /velocities/vertical-speed-fps + + + /instrumentation/nav[0]/gs-rate-of-climb + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + + + + Auto Throttle (5 sec lookahead) + false + + /autopilot/locks/speed + speed-with-throttle + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /controls/engines/engine[0]/throttle + /controls/engines/engine[1]/throttle + /controls/engines/engine[2]/throttle + /controls/engines/engine[3]/throttle + /controls/engines/engine[4]/throttle + /controls/engines/engine[5]/throttle + /controls/engines/engine[6]/throttle + /controls/engines/engine[7]/throttle + + + 0.1 + 1.0 + 0.1 + 0.0 + + 1.0 + 0.001 + 0.0 + 1.0 + + + + + + Speed hold (vary pitch trim) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch trim) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-trim + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator-trim + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-accel-ktps + + + 0.2 + 0.0 + -1.0 + 1.0 + + + + + + Speed hold (vary elevator) + false + + /autopilot/locks/speed + speed-with-pitch-yoke + + + /accelerations/airspeed-ktps + + + //autopilot/settings/target-accel-ktps + + + /controls/flight/elevator + + + 0.02 + 1.0 + 0.1 + 0.0 + + 8.0 + 0.001 + -0.25 + 0.25 + + + + + + Speed hold (vary pitch via yoke) Stage #1 + false + + /autopilot/locks/speed + speed-with-pitch-yoke-pitch + + + + /velocities/airspeed-kt + + + /autopilot/settings/target-speed-kt + + + /autopilot/settings/target-pitch-deg + + + -1.0 + 1.0 + 0.1 + 0.0 + + 2.0 + 0.00001 + -15.0 + 15.0 + + + + + Speed hold (vary pitch via yoke) Stage #2 + false + + /autopilot/locks/speed + speed-with-pitch-yoke-pitch + + + /orientation/pitch-deg + + + /autopilot/settings/target-pitch-deg + + + /controls/flight/elevator + + + -0.05 + 1.0 + 0.1 + 0.0 + + 0.5 + 0.001 + -1.0 + 1.0 + + + + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Systems/airdata.nas b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Systems/airdata.nas new file mode 100644 index 0000000000..8322cbb169 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Systems/airdata.nas @@ -0,0 +1,40 @@ +var last_time = 0.0; +var last_speed = 0.0; +var speed_sensed = 0.0; +var sensor_step = 1.0; +var speed_filt = 0.0; +var accel_filt = 0.0; + +var compute_airspeed_accel = func( speed_filt, dt ) { + # print ( "computing forward acceleration ", dt ); + + var delta_speed = speed_filt - last_speed; + last_speed = speed_filt; + + var accel = delta_speed / dt; + + return accel; +} + + +var update_airdata = func( dt ) { + # crude model of a noisy electronic pitot tube + sensed_speed = getprop("/velocities/airspeed-kt"); + var r = rand(); + if ( r < 0.3333 ) { + sensed_speed = sensed_speed - sensor_step; + } elsif ( r > 0.6666 ) { + sensed_speed = sensed_speed + sensor_step; + } + + speed_filt = 0.97 * speed_filt + 0.03 * sensed_speed; + + var sensed_accel = 0.0; + if ( dt > 0 ) { + sensed_accel = compute_airspeed_accel( speed_filt, dt ); + } + + accel_filt = 0.97 * accel_filt + 0.03 * sensed_accel; + + setprop("/accelerations/airspeed-ktps", accel_filt); +} diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Systems/electrical.xml b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Systems/electrical.xml new file mode 100644 index 0000000000..21bbcac696 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Systems/electrical.xml @@ -0,0 +1,140 @@ + + + + + + + + + + + + Battery 1 + /systems/electrical/suppliers/battery[0] + battery + 28 + 60 + + + + Alternator 1 + /systems/electrical/suppliers/alternator[0] + alternator + /engines/engine[0]/rpm + 28 + 60 + + + + + + Master Bus + /systems/electrical/outputs/bus[0] + /systems/electrical/outputs/transponder + + + + + + Starter 1 Power + /systems/electrical/outputs/starter[0] + + + + Landing Light Power + /systems/electrical/outputs/landing-light + + + + Beacon Power + /systems/electrical/outputs/beacon + + + + Strobe Lights Power + /systems/electrical/outputs/strobe-lights + + + + Taxi Lights Power + /systems/electrical/outputs/taxi-lights + + + + Pitot Heat Power + /systems/electrical/outputs/pitot-heat + + + + + + + Alternator 1 + Master Bus + + /controls/engines/engine[0]/master-alt + + + + + Battery 1 + Master Bus + + /controls/engines/engine[0]/master-bat + + + + + + + Master Bus + Starter 1 Power + + /controls/engines/engine[0]/starter + off + + + + + + + Master Bus + Landing Light Power + + /controls/switches/landing-light + + + + + Master Bus + Beacon Power + + /controls/switches/flashing-beacon + + + + + Master Bus + Strobe Lights Power + + /controls/switches/strobe-lights + + + + + Master Bus + Taxi Lights Power + + /controls/switches/taxi-lights + + + + + Master Bus + Pitot Heat Power + + /controls/switches/pitot-heat + + + + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Systems/main.nas b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Systems/main.nas new file mode 100644 index 0000000000..7aec75186f --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Systems/main.nas @@ -0,0 +1,22 @@ +var dialog = gui.Dialog.new("/sim/gui/dialogs/rascal/config/dialog", + "Aircraft/Rascal/Dialogs/config.xml"); + +var last_time = 0.0; + + +var main_loop = func { + var time = getprop("/sim/time/elapsed-sec"); + var dt = time - last_time; + last_time = time; + + update_airdata( dt ); + update_ugear( dt ); + + settimer(main_loop, 0); +} + + +setlistener("/sim/signals/fdm-initialized", + func { + main_loop(); + }); diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Systems/ugear.nas b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Systems/ugear.nas new file mode 100644 index 0000000000..3a33c6cb22 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/Systems/ugear.nas @@ -0,0 +1,54 @@ +var update_ugear = func( dt ) { + var max_zoom_rate = 10*dt; + var max_pan_rate = 30*dt; + var max_tilt_rate = 45*dt; + + var ap_enable = props.globals.getNode("/ugear/settings/ap-enable"); + if ( ap_enable == nil ) { + props.globals.initNode("/ugear/settings/ap-enable", 0, "BOOL", 1); + ap_enable = props.globals.getNode("/ugear/settings/ap-enable"); + } + if ( ap_enable.getBoolValue() ) { + setprop( "/controls/flight/aileron", getprop("/ugear/act/aileron") ); + setprop( "/controls/flight/elevator", getprop("/ugear/act/elevator") ); + } + + var turret_enable = props.globals.getNode("/ugear/settings/turret-enable"); + if ( turret_enable == nil ) { + props.globals.initNode("/ugear/settings/turret-enable", 0, "BOOL", 1); + turret_enable = props.globals.getNode("/ugear/settings/turret-enable"); + } + + if ( (getprop("/sim/current-view/name") == "Camera View") + and turret_enable.getBoolValue() ) + { + var target_zoom = getprop("/ugear/act/channel6"); + var target_pan = -getprop("/ugear/act/channel7"); + if ( target_pan < -180.0 ) { target_pan += 360.0; } + if ( target_pan > 180.0 ) { target_pan -= 360.0; } + var target_tilt = -getprop("/ugear/act/channel8"); + var cur_zoom = getprop("/sim/current-view/field-of-view"); + var cur_pan = getprop("/sim/current-view/heading-offset-deg"); + var cur_tilt = getprop("/sim/current-view/pitch-offset-deg"); + var diff = 0.0; + + diff = target_zoom - cur_zoom; + if ( diff > max_zoom_rate ) { diff = max_zoom_rate; } + if ( diff < -max_zoom_rate ) { diff = -max_zoom_rate; } + setprop("/sim/current-view/field-of-view", cur_zoom + diff); + + diff = target_pan - cur_pan; + if ( diff > 180 ) { diff -= 360; } + if ( diff < -180 ) { diff += 360; } + if ( diff > max_pan_rate ) { diff = max_pan_rate; } + if ( diff < -max_pan_rate ) { diff = -max_pan_rate; } + setprop("/sim/current-view/heading-offset-deg", cur_pan + diff); + + diff = target_tilt - cur_tilt; + if ( diff > 90 ) { diff = 90; } + if ( diff < -90 ) { diff = -90; } + if ( diff > max_tilt_rate ) { diff = max_tilt_rate; } + if ( diff < -max_tilt_rate ) { diff = -max_tilt_rate; } + setprop("/sim/current-view/pitch-offset-deg", cur_tilt + diff); + } +} diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/reset_CMAC.xml b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/reset_CMAC.xml new file mode 100644 index 0000000000..f7099f9225 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/Rascal/reset_CMAC.xml @@ -0,0 +1,11 @@ + + + -35.362851 + 149.165223 + 0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/Engines/a2830-12.xml b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/Engines/a2830-12.xml new file mode 100644 index 0000000000..2c81e177dd --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/Engines/a2830-12.xml @@ -0,0 +1,4 @@ + + + 187 + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/Engines/prop10x4.5.xml b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/Engines/prop10x4.5.xml new file mode 100644 index 0000000000..d45e85903f --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/Engines/prop10x4.5.xml @@ -0,0 +1,76 @@ + + + + + 0.000041666666 + + 10.0 + 2 + 1.0 + 0.79 + + + 0.0 0.0054513 + 1.4 0.0054513 + + + + + + + + + + + + + + +
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+ + + + 0.85 1.0 + 1.05 0.8 + +
+ + + + 0.85 1.0 + 1.05 1.8 + 2.00 1.4 + +
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0.288 + 0.012 + + + + + noshadow + propeller2 + + + spin + propeller2 + /engines/engine[2]/rpm + 100 + + 0.288 + 0.000 + 0.046 + 0.288 + 0.000 + 0.012 + + + + + noshadow + propeller3 + + + spin + propeller3 + /engines/engine[3]/rpm + 100 + + -0.288 + 0.000 + 0.046 + -0.288 + 0.000 + 0.012 + + + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/README b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/README new file mode 100644 index 0000000000..e9a941c41d --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/README @@ -0,0 +1,3 @@ +This model is based on the arducopter mode from James Goppert, and +adapted for use in the ArduPilot test system. Many thanks to all who +have contributed! diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/arducopter-set.xml b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/arducopter-set.xml new file mode 100644 index 0000000000..4cd25150f5 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/arducopter-set.xml @@ -0,0 +1,93 @@ + + + + + Arducopter UAV (R/C) + James Goppert + 0.0 + experimental + jsb + arducopter + 50 + + Aircraft/Generic/generic-sound.xml + + + false + + + Aircraft/arducopter/Models/arducopter.xml + + + true + + 0.0 + 0.15 + 0.90 + 0 + + + -5.5 + + arducopter UAV + Cruise speed: ? mph + Never-exceed (Vne): ? mph + Best Glide (Vglide): ? mph + Maneuvering (Va): ? mph + Approach speed: ? mph + Stall speed (Vs): ? mph + + + Arducopter UAV DIY Drones/ OPENMAV + Aircraft/arducopter/arducopter.jpg + + + + + 0.00 + + 0.00 + + + + + + + 0 + + + + + + Payload + + 0.0 + 1.0 + + + + + + + + + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/arducopter.xml b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/arducopter.xml new file mode 100644 index 0000000000..5161e75322 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/arducopter.xml @@ -0,0 +1,248 @@ + + + + + James Goppert + 2010-03-11 + 0.0 + Arducopter DIY Drones UAV. + + + 0.017 + 0.13 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + 0.00 + 0.00 + 0.00 + + + 0.0 + 0.0 + 0.0 + + + 0 + 0 + 0 + + + + + 0.036 + 0.036 + 0.036 + 1.0 + + 0.0 + 0.0 + 0.0 + + + 0.0 + + 0.0 + 0.0 + 0.0 + + + + + + + -0.283 + 0.00 + -0.033 + + 0.80 + 0.50 + 800 + 7 + 300 + + + + 0.283 + 0.00 + -0.033 + + 0.80 + 0.50 + 800 + 7 + 300 + + + + 0.00 + 0.283 + -0.033 + + 0.80 + 0.50 + 800 + 7 + 300 + + + + 0.00 + -0.283 + -0.033 + + 0.80 + 0.50 + 800 + 7 + 300 + + + + + + + -0.283 + 0.00 + 0.00 + + + 90.00 + 0.00 + 0.00 + + 0 + + + -0.283 + 0.00 + 0.125 + + + 90.00 + 0.00 + 0.00 + + 1 + 10 + + + + + 0.283 + 0.000 + 0.000 + + + 90.00 + 0.00 + 0.00 + + 0 + + + 0.283 + 0.000 + 0.125 + + + 90.00 + 0.00 + 0.00 + + 1 + 10 + + + + + 0.00 + 0.283 + 0.00 + + + 90.00 + 0.00 + 0.00 + + 0 + + + 0.00 + 0.283 + 0.125 + + + 90.00 + 0.00 + 0.00 + + -1 + 10 + + + + + 0.000 + -0.283 + 0.000 + + + 90.00 + 0.00 + 0.00 + + 0 + + + 0.000 + -0.283 + 0.125 + + + 90.00 + 0.00 + 0.00 + + -1 + 10 + + + + + 0.00 + 0.00 + -0.07 + + + 0.00000000001 + 0.0 + + + + + + + + Overall Drag + + aero/qbar-psf + metrics/Sw-sqft + 1 + + + + + + + + + + + + + + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/data/arducopter_half_step.txt b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/data/arducopter_half_step.txt new file mode 100644 index 0000000000..26360d2301 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/data/arducopter_half_step.txt @@ -0,0 +1,9239 @@ +Force, Ch A, Run #5 +Time ( s ) Force ( N ) +0.0000 0.2 +0.0050 0.2 +0.0100 0.2 +0.0150 0.2 +0.0200 0.2 +0.0250 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b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/plus_quad2-set.xml new file mode 100644 index 0000000000..15373d6bc9 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/plus_quad2-set.xml @@ -0,0 +1,93 @@ + + + + + Arducopter UAV (R/C) (plus quad) + James Goppert + 0.0 + experimental + jsb + plus_quad2 + 50 + + Aircraft/Generic/generic-sound.xml + + + false + + + Aircraft/arducopter/Models/plus_quad2.xml + + + true + + 0.0 + 0.15 + 0.90 + 0 + + + -5.5 + + plus_quad UAV + Cruise speed: ? mph + Never-exceed (Vne): ? mph + Best Glide (Vglide): ? mph + Maneuvering (Va): ? mph + Approach speed: ? mph + Stall speed (Vs): ? mph + + + Arducopter UAV DIY Drones/ OPENMAV + Aircraft/arducopter/arducopter.jpg + + + + + 0.00 + + 0.00 + + + + + + + 0 + + + + + + Payload + + 0.0 + 1.0 + + + + + + + + + diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/plus_quad2.xml b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/plus_quad2.xml new file mode 100644 index 0000000000..5161e75322 --- /dev/null +++ b/Tools/ArdupilotMegaPlanner/bin/Release/aircraft/arducopter/plus_quad2.xml @@ -0,0 +1,248 @@ + + + + + James Goppert + 2010-03-11 + 0.0 + Arducopter DIY Drones UAV. + + + 0.017 + 0.13 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + 0.00 + 0.00 + 0.00 + + + 0.0 + 0.0 + 0.0 + + + 0 + 0 + 0 + + + + + 0.036 + 0.036 + 0.036 + 1.0 + + 0.0 + 0.0 + 0.0 + + + 0.0 + + 0.0 + 0.0 + 0.0 + + + + + + + -0.283 + 0.00 + -0.033 + + 0.80 + 0.50 + 800 + 7 + 300 + + + + 0.283 + 0.00 + -0.033 + + 0.80 + 0.50 + 800 + 7 + 300 + + + + 0.00 + 0.283 + -0.033 + + 0.80 + 0.50 + 800 + 7 + 300 + + + + 0.00 + -0.283 + -0.033 + + 0.80 + 0.50 + 800 + 7 + 300 + + + + + + + -0.283 + 0.00 + 0.00 + + + 90.00 + 0.00 + 0.00 + + 0 + + + -0.283 + 0.00 + 0.125 + + + 90.00 + 0.00 + 0.00 + + 1 + 10 + + + + + 0.283 + 0.000 + 0.000 + + + 90.00 + 0.00 + 0.00 + + 0 + + + 0.283 + 0.000 + 0.125 + + + 90.00 + 0.00 + 0.00 + + 1 + 10 + + + + + 0.00 + 0.283 + 0.00 + + + 90.00 + 0.00 + 0.00 + + 0 + + + 0.00 + 0.283 + 0.125 + + + 90.00 + 0.00 + 0.00 + + -1 + 10 + + + + + 0.000 + -0.283 + 0.000 + + + 90.00 + 0.00 + 0.00 + + 0 + + + 0.000 + -0.283 + 0.125 + + + 90.00 + 0.00 + 0.00 + + -1 + 10 + + + + + 0.00 + 0.00 + -0.07 + + + 0.00000000001 + 0.0 + + + + + + + + Overall Drag + + aero/qbar-psf + metrics/Sw-sqft + 1 + + + + + + + + + + + + + +

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