mirror of https://github.com/ArduPilot/ardupilot
528 lines
20 KiB
XML
528 lines
20 KiB
XML
<?xml version="1.0"?>
|
|
<?xml-stylesheet href="http://jsbsim.sourceforge.net/JSBSim.xsl" type="text/xsl"?>
|
|
<fdm_config name="rascal" version="2.0" release="BETA"
|
|
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
|
|
xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
|
|
|
|
<fileheader>
|
|
<author> Author Name </author>
|
|
<filecreationdate> Creation Date </filecreationdate>
|
|
<version> Version </version>
|
|
<description> Models a rascal </description>
|
|
</fileheader>
|
|
|
|
<metrics>
|
|
<wingarea unit="FT2"> 10.57 </wingarea>
|
|
<wingspan unit="FT"> 9.17 </wingspan>
|
|
<chord unit="FT"> 1.15 </chord>
|
|
<htailarea unit="FT2"> 1.69 </htailarea>
|
|
<htailarm unit="FT"> 3.28 </htailarm>
|
|
<vtailarea unit="FT2"> 1.06 </vtailarea>
|
|
<vtailarm unit="FT"> 0 </vtailarm>
|
|
<location name="AERORP" unit="IN">
|
|
<x> 37.4 </x>
|
|
<y> 0 </y>
|
|
<z> 0 </z>
|
|
</location>
|
|
<location name="EYEPOINT" unit="IN">
|
|
<x> 20 </x>
|
|
<y> 0 </y>
|
|
<z> 5 </z>
|
|
</location>
|
|
<location name="VRP" unit="IN">
|
|
<x> 0 </x>
|
|
<y> 0 </y>
|
|
<z> 0 </z>
|
|
</location>
|
|
</metrics>
|
|
|
|
<mass_balance>
|
|
<ixx unit="SLUG*FT2"> 1.95 </ixx>
|
|
<iyy unit="SLUG*FT2"> 1.55 </iyy>
|
|
<izz unit="SLUG*FT2"> 1.91 </izz>
|
|
<ixy unit="SLUG*FT2"> 0 </ixy>
|
|
<ixz unit="SLUG*FT2"> 0 </ixz>
|
|
<iyz unit="SLUG*FT2"> 0 </iyz>
|
|
<emptywt unit="LBS"> 13 </emptywt>
|
|
<location name="CG" unit="IN">
|
|
<x> 36.4 </x>
|
|
<y> 0 </y>
|
|
<z> 4 </z>
|
|
</location>
|
|
</mass_balance>
|
|
|
|
<ground_reactions>
|
|
<contact type="BOGEY" name="LEFT_MLG">
|
|
<location unit="IN">
|
|
<x> 33.1 </x>
|
|
<y> -9.9 </y>
|
|
<z> -13.1 </z>
|
|
</location>
|
|
<static_friction> 1.0 </static_friction>
|
|
<dynamic_friction> 0.8 </dynamic_friction>
|
|
<rolling_friction> 0.02 </rolling_friction>
|
|
<spring_coeff unit="LBS/FT"> 12 </spring_coeff>
|
|
<damping_coeff unit="LBS/FT/SEC"> 1 </damping_coeff>
|
|
<max_steer unit="DEG"> 0.0 </max_steer>
|
|
<brake_group> NONE </brake_group>
|
|
<retractable>0</retractable>
|
|
</contact>
|
|
<contact type="BOGEY" name="RIGHT_MLG">
|
|
<location unit="IN">
|
|
<x> 33.1 </x>
|
|
<y> 9.9 </y>
|
|
<z> -13.1 </z>
|
|
</location>
|
|
<static_friction> 1.0 </static_friction>
|
|
<dynamic_friction> 0.8 </dynamic_friction>
|
|
<rolling_friction> 0.02 </rolling_friction>
|
|
<spring_coeff unit="LBS/FT"> 12 </spring_coeff>
|
|
<damping_coeff unit="LBS/FT/SEC"> 1 </damping_coeff>
|
|
<max_steer unit="DEG"> 0.0 </max_steer>
|
|
<brake_group> NONE </brake_group>
|
|
<retractable>0</retractable>
|
|
</contact>
|
|
<contact type="BOGEY" name="TAIL_LG">
|
|
<location unit="IN">
|
|
<x> 68.9 </x>
|
|
<y> 0 </y>
|
|
<!-- this sets the position of the tail wheel much
|
|
lower than it should be, so that we start with
|
|
zero pitch, which makes for a better simulation
|
|
of ground start on the accelerometers/gyros in
|
|
ArduPlane -->
|
|
<z> -7.8 </z>
|
|
</location>
|
|
<static_friction> 1.0 </static_friction>
|
|
<dynamic_friction> 0.8 </dynamic_friction>
|
|
<rolling_friction> 0.02 </rolling_friction>
|
|
<spring_coeff unit="LBS/FT"> 12 </spring_coeff>
|
|
<damping_coeff unit="LBS/FT/SEC"> 1 </damping_coeff>
|
|
<max_steer unit="DEG"> 360.0 </max_steer>
|
|
<brake_group> NONE </brake_group>
|
|
<retractable>0</retractable>
|
|
</contact>
|
|
</ground_reactions>
|
|
|
|
<propulsion>
|
|
<engine file="Zenoah_G-26A">
|
|
<location unit="IN">
|
|
<x> 36 </x>
|
|
<y> 0 </y>
|
|
<z> 0 </z>
|
|
</location>
|
|
<orient unit="DEG">
|
|
<roll> 0.0 </roll>
|
|
<pitch> 0 </pitch>
|
|
<yaw> 0 </yaw>
|
|
</orient>
|
|
<feed>0</feed>
|
|
<thruster file="18x8">
|
|
<location unit="IN">
|
|
<x> 1 </x>
|
|
<y> 0 </y>
|
|
<z> 0 </z>
|
|
</location>
|
|
<orient unit="DEG">
|
|
<roll> 0.0 </roll>
|
|
<pitch> 0.0 </pitch>
|
|
<yaw> 0.0 </yaw>
|
|
</orient>
|
|
<p_factor>1.0</p_factor>
|
|
</thruster>
|
|
</engine>
|
|
<tank type="FUEL"> <!-- Tank number 0 -->
|
|
<location unit="IN">
|
|
<x> 36.36 </x>
|
|
<y> 0 </y>
|
|
<z> -1.89375 </z>
|
|
</location>
|
|
<capacity unit="LBS"> 1.5 </capacity>
|
|
<contents unit="LBS"> 1.5 </contents>
|
|
</tank>
|
|
</propulsion>
|
|
|
|
<flight_control name="FCS: rascal">
|
|
<channel name="All">
|
|
|
|
<summer name="Pitch Trim Sum">
|
|
<input>fcs/elevator-cmd-norm</input>
|
|
<input>fcs/pitch-trim-cmd-norm</input>
|
|
<clipto>
|
|
<min>-1</min>
|
|
<max>1</max>
|
|
</clipto>
|
|
</summer>
|
|
|
|
<aerosurface_scale name="Elevator Control">
|
|
<input>fcs/pitch-trim-sum</input>
|
|
<range>
|
|
<min>-0.35</min>
|
|
<max>0.3</max>
|
|
</range>
|
|
<output>fcs/elevator-pos-rad</output>
|
|
</aerosurface_scale>
|
|
|
|
<aerosurface_scale name="Elevator Normalized">
|
|
<input>fcs/elevator-pos-rad</input>
|
|
<domain>
|
|
<min>-0.3</min>
|
|
<max> 0.3</max>
|
|
</domain>
|
|
<range>
|
|
<min>-1</min>
|
|
<max> 1</max>
|
|
</range>
|
|
<output>fcs/elevator-pos-norm</output>
|
|
</aerosurface_scale>
|
|
|
|
<summer name="Roll Trim Sum">
|
|
<input>fcs/aileron-cmd-norm</input>
|
|
<input>fcs/roll-trim-cmd-norm</input>
|
|
<clipto>
|
|
<min>-1</min>
|
|
<max>1</max>
|
|
</clipto>
|
|
</summer>
|
|
|
|
<aerosurface_scale name="Left Aileron Control">
|
|
<input>fcs/roll-trim-sum</input>
|
|
<range>
|
|
<min>-0.35</min>
|
|
<max>0.35</max>
|
|
</range>
|
|
<output>fcs/left-aileron-pos-rad</output>
|
|
</aerosurface_scale>
|
|
|
|
<aerosurface_scale name="Right Aileron Control">
|
|
<input>-fcs/roll-trim-sum</input>
|
|
<range>
|
|
<min>-0.35</min>
|
|
<max>0.35</max>
|
|
</range>
|
|
<output>fcs/right-aileron-pos-rad</output>
|
|
</aerosurface_scale>
|
|
|
|
<aerosurface_scale name="Left aileron Normalized">
|
|
<input>fcs/left-aileron-pos-rad</input>
|
|
<domain>
|
|
<min>-0.35</min>
|
|
<max> 0.35</max>
|
|
</domain>
|
|
<range>
|
|
<min>-1</min>
|
|
<max> 1</max>
|
|
</range>
|
|
<output>fcs/left-aileron-pos-norm</output>
|
|
</aerosurface_scale>
|
|
|
|
<aerosurface_scale name="Right aileron Normalized">
|
|
<input>fcs/right-aileron-pos-rad</input>
|
|
<domain>
|
|
<min>-0.35</min>
|
|
<max> 0.35</max>
|
|
</domain>
|
|
<range>
|
|
<min>-1</min>
|
|
<max> 1</max>
|
|
</range>
|
|
<output>fcs/right-aileron-pos-norm</output>
|
|
</aerosurface_scale>
|
|
|
|
<summer name="Rudder Command Sum">
|
|
<input>fcs/rudder-cmd-norm</input>
|
|
<input>fcs/yaw-trim-cmd-norm</input>
|
|
<clipto>
|
|
<min>-1</min>
|
|
<max>1</max>
|
|
</clipto>
|
|
</summer>
|
|
|
|
<aerosurface_scale name="Rudder Control">
|
|
<input>fcs/rudder-command-sum</input>
|
|
<range>
|
|
<min>-0.35</min>
|
|
<max>0.35</max>
|
|
</range>
|
|
<output>fcs/rudder-pos-rad</output>
|
|
</aerosurface_scale>
|
|
|
|
<aerosurface_scale name="Rudder Normalized">
|
|
<input>fcs/rudder-pos-rad</input>
|
|
<domain>
|
|
<min>-0.35</min>
|
|
<max> 0.35</max>
|
|
</domain>
|
|
<range>
|
|
<min>-1</min>
|
|
<max> 1</max>
|
|
</range>
|
|
<output>fcs/rudder-pos-norm</output>
|
|
</aerosurface_scale>
|
|
</channel>
|
|
</flight_control>
|
|
|
|
<aerodynamics>
|
|
<axis name="DRAG">
|
|
<function name="aero/coefficient/CD0">
|
|
<description>Drag_at_zero_lift</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<table>
|
|
<independentVar>aero/alpha-rad</independentVar>
|
|
<tableData>
|
|
-1.5700 1.5000
|
|
-0.2600 0.0560
|
|
0.0000 0.0280
|
|
0.2600 0.0560
|
|
1.5700 1.5000
|
|
</tableData>
|
|
</table>
|
|
</product>
|
|
</function>
|
|
<function name="aero/coefficient/CDi">
|
|
<description>Induced_drag</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>aero/cl-squared</property>
|
|
<value>0.0400</value>
|
|
</product>
|
|
</function>
|
|
<function name="aero/coefficient/CDbeta">
|
|
<description>Drag_due_to_sideslip</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<table>
|
|
<independentVar>aero/beta-rad</independentVar>
|
|
<tableData>
|
|
-1.5700 1.2300
|
|
-0.2600 0.0500
|
|
0.0000 0.0000
|
|
0.2600 0.0500
|
|
1.5700 1.2300
|
|
</tableData>
|
|
</table>
|
|
</product>
|
|
</function>
|
|
<function name="aero/coefficient/CDde">
|
|
<description>Drag_due_to_Elevator_Deflection</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>fcs/elevator-pos-norm</property>
|
|
<value>0.0300</value>
|
|
</product>
|
|
</function>
|
|
</axis>
|
|
|
|
<axis name="SIDE">
|
|
<function name="aero/coefficient/CYb">
|
|
<description>Side_force_due_to_beta</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>aero/beta-rad</property>
|
|
<value>-1.0000</value>
|
|
</product>
|
|
</function>
|
|
</axis>
|
|
|
|
<axis name="LIFT">
|
|
<function name="aero/coefficient/CLalpha">
|
|
<description>Lift_due_to_alpha</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<table>
|
|
<independentVar>aero/alpha-rad</independentVar>
|
|
<tableData>
|
|
-0.2000 -0.7500
|
|
0.0000 0.2500
|
|
0.2300 1.4000
|
|
0.6000 0.7100
|
|
</tableData>
|
|
</table>
|
|
</product>
|
|
</function>
|
|
<function name="aero/coefficient/CLde">
|
|
<description>Lift_due_to_Elevator_Deflection</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>fcs/elevator-pos-rad</property>
|
|
<value>0.2000</value>
|
|
</product>
|
|
</function>
|
|
</axis>
|
|
|
|
<axis name="ROLL">
|
|
<function name="aero/coefficient/Clb">
|
|
<description>Roll_moment_due_to_beta</description>
|
|
<!-- aka dihedral effect -->
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>metrics/bw-ft</property>
|
|
<property>aero/beta-rad</property>
|
|
<value>-0.1000</value>
|
|
</product>
|
|
</function>
|
|
<function name="aero/coefficient/Clp">
|
|
<description>Roll_moment_due_to_roll_rate</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>metrics/bw-ft</property>
|
|
<property>aero/bi2vel</property>
|
|
<property>velocities/p-aero-rad_sec</property>
|
|
<value>-0.4000</value>
|
|
</product>
|
|
</function>
|
|
<function name="aero/coefficient/Clr">
|
|
<description>Roll_moment_due_to_yaw_rate</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>metrics/bw-ft</property>
|
|
<property>aero/bi2vel</property>
|
|
<property>velocities/r-aero-rad_sec</property>
|
|
<value>0.1500</value>
|
|
</product>
|
|
</function>
|
|
<function name="aero/coefficient/Clda">
|
|
<description>Roll_moment_due_to_aileron</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>metrics/bw-ft</property>
|
|
<property>fcs/left-aileron-pos-rad</property>
|
|
<table>
|
|
<independentVar>velocities/mach</independentVar>
|
|
<tableData>
|
|
0.0000 0.1300
|
|
2.0000 0.0570
|
|
</tableData>
|
|
</table>
|
|
</product>
|
|
</function>
|
|
<function name="aero/coefficient/Cldr">
|
|
<description>Roll_moment_due_to_rudder</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>metrics/bw-ft</property>
|
|
<property>fcs/rudder-pos-rad</property>
|
|
<value>0.0100</value>
|
|
</product>
|
|
</function>
|
|
</axis>
|
|
|
|
<axis name="PITCH">
|
|
<function name="aero/coefficient/Cmalpha">
|
|
<description>Pitch_moment_due_to_alpha</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>metrics/cbarw-ft</property>
|
|
<property>aero/alpha-rad</property>
|
|
<value>-0.5000</value>
|
|
</product>
|
|
</function>
|
|
<function name="aero/coefficient/Cmde">
|
|
<description>Pitch_moment_due_to_elevator</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>metrics/cbarw-ft</property>
|
|
<property>fcs/elevator-pos-rad</property>
|
|
<table>
|
|
<independentVar>velocities/mach</independentVar>
|
|
<tableData>
|
|
0.0000 -0.5000 <!-- was -1.1 -->
|
|
2.0000 -0.2750
|
|
</tableData>
|
|
</table>
|
|
</product>
|
|
</function>
|
|
<function name="aero/coefficient/Cmq">
|
|
<description>Pitch_moment_due_to_pitch_rate</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>metrics/cbarw-ft</property>
|
|
<property>aero/ci2vel</property>
|
|
<property>velocities/q-aero-rad_sec</property>
|
|
<value>-12.0000</value>
|
|
</product>
|
|
</function>
|
|
<function name="aero/coefficient/Cmadot">
|
|
<description>Pitch_moment_due_to_alpha_rate</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>metrics/cbarw-ft</property>
|
|
<property>aero/ci2vel</property>
|
|
<property>aero/alphadot-rad_sec</property>
|
|
<value>-7.0000</value>
|
|
</product>
|
|
</function>
|
|
</axis>
|
|
|
|
<axis name="YAW">
|
|
<function name="aero/coefficient/Cnb">
|
|
<description>Yaw_moment_due_to_beta</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>metrics/bw-ft</property>
|
|
<property>aero/beta-rad</property>
|
|
<value>0.1200</value>
|
|
</product>
|
|
</function>
|
|
<function name="aero/coefficient/Cnr">
|
|
<description>Yaw_moment_due_to_yaw_rate</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>metrics/bw-ft</property>
|
|
<property>aero/bi2vel</property>
|
|
<property>velocities/r-aero-rad_sec</property>
|
|
<value>-0.1500</value>
|
|
</product>
|
|
</function>
|
|
<function name="aero/coefficient/Cndr">
|
|
<description>Yaw_moment_due_to_rudder</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>metrics/bw-ft</property>
|
|
<property>fcs/rudder-pos-rad</property>
|
|
<value>-0.0500</value>
|
|
</product>
|
|
</function>
|
|
<function name="aero/coefficient/Cnda">
|
|
<description>Adverse_yaw</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>metrics/bw-ft</property>
|
|
<property>fcs/left-aileron-pos-rad</property>
|
|
<value>-0.0300</value>
|
|
</product>
|
|
</function>
|
|
<function name="aero/coefficient/Cndi">
|
|
<description>Yaw_moment_due_to_tail_incidence</description>
|
|
<product>
|
|
<property>aero/qbar-psf</property>
|
|
<property>metrics/Sw-sqft</property>
|
|
<property>metrics/bw-ft</property>
|
|
<value>0.0007</value>
|
|
</product>
|
|
</function>
|
|
</axis>
|
|
</aerodynamics>
|
|
</fdm_config>
|