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