oscillation_ctrl/models/spiri/spiri.sdf

<?xml version="1.0" ?>
<sdf version='1.6'>
  <model name='spiri'>
	    <link name='base'>
	      	<pose frame=''>0 0 0 0 -0 0</pose>
		<gravity>1</gravity>
	      	<inertial>
		        <pose>0 0 0 0 -0 0</pose>
		        <mass>1.437</mass>
			<!--mass>0.5841</mass-->
		        <inertia>
					<ixx>0.1152</ixx>
					<ixy>0</ixy>
					<ixz>0</ixz>
					<iyy>0.1152</iyy>
					<iyz>0</iyz>
					<izz>0.218</izz>
		           <!-- <ixx>0.003252814</ixx>
		          <ixy>0.0</ixy>
		          <ixz>0.0</ixz>
		          <iyy>0.003252814</iyy>
		          <iyz>0</iyz>
		          <izz>0.032498525</izz> -->
	        	</inertia><!-- x= 0.032498525 y=0.003252814 z=0.031612672 -->
	      	</inertial>
		    <collision name='base_collision'>
		        <pose frame=''>0 0 -0.02103 0 -0 0</pose>
		        <geometry>
		        	<box>
		            	<size>0.21355 0.132 0.04206</size>
		          	</box>
		        </geometry>       
		    </collision>
	      	<visual name='base_visual'>
	        	<pose frame=''>0 0 0 0 -0 0</pose>
		        <geometry>
		        	<mesh>
			            <scale>1 1 1</scale>
				    	<uri>model://spiri/meshes/spiri_base_bottom.dae</uri>
		          	</mesh>
		        </geometry>
	      	</visual>


		    <collision name='base_top_collision_1'>
		        <pose frame=''>0 0 0.03025 0 -0 0</pose>
		        <geometry>
		        	<box>
		            	<size>0.21355 0.132 0.0605</size>
		          	</box>
		        </geometry>
		    </collision>
		    <visual name='base_top_visual_1'>
		        <pose frame=''>0 0 0 0 -0 0</pose>
		        <geometry>
		        	<mesh>
		            	<scale>1 1 1</scale>
			    		<uri>model://spiri/meshes/spiri_base_top.dae</uri>
		          	</mesh>
		        </geometry>
		    </visual>


		    <collision name='base_fixed_joint_lump__shank_LF_collision_2'>
		        <pose frame=''>0.112711 0.112711 -0.001 0 -0 0.785398</pose>
		        <geometry>
			        <box>
			        	<size>0.2 0.014 0.11</size>
			        </box>
		        </geometry>
		    </collision>
		    <visual name='base_fixed_joint_lump__shank_LF_visual_2'>
		        <pose frame=''>0.042 0.042 -0.001 0 -0 0.785398</pose>
		        <geometry>
			        <mesh>
				        <scale>1 1 1</scale>
					    <uri>model://spiri/meshes/spiri_shank.dae</uri>  
			        </mesh>
		        </geometry>
		    </visual>

	      	<collision name='base_fixed_joint_lump__shank_LH_collision_3'>
		        <pose frame=''>-0.112711 0.112711 -0.001 0 -0 2.35619</pose>
		        <geometry>
			        <box>
			        	<size>0.2 0.014 0.11</size>
			        </box>
		        </geometry>
	      	</collision>
	      	<visual name='base_fixed_joint_lump__shank_LH_visual_3'>
		        <pose frame=''>-0.042 0.042 -0.001 0 -0 2.35619</pose>
		        <geometry>
		          <mesh>
		            <scale>1 1 1</scale>
		            <uri>model://spiri/meshes/spiri_shank.dae</uri>
		          </mesh>
		        </geometry>
	      	</visual>


		    <collision name='base_fixed_joint_lump__shank_RF_collision_4'>
		        <pose frame=''>0.112711 -0.112711 -0.001 0 0 -0.785398</pose>
		        <geometry>
			        <box>
			        	<size>0.2 0.014 0.11</size>
			        </box>
		        </geometry>
		    </collision>
	      	<visual name='base_fixed_joint_lump__shank_RF_visual_4'>
		        <pose frame=''>0.042 -0.042 -0.001 0 0 -0.785398</pose>
		        <geometry>
		          	<mesh>
			            <scale>1 1 1</scale>
				    	<uri>model://spiri/meshes/spiri_shank.dae</uri>
		          	</mesh>
		        </geometry>
	      	</visual>


	      	<collision name='base_fixed_joint_lump__shank_RH_collision_5'>
		        <pose frame=''>-0.112711 -0.112711 -0.001 0 0 -2.35619</pose>
		        <geometry>
			        <box>
			        	<size>0.2 0.014 0.11</size>
			        </box>
		        </geometry>
	      	</collision>
	      	<visual name='base_fixed_joint_lump__shank_RH_visual_5'>
		        <pose frame=''>-0.042 -0.042 -0.001 0 0 -2.35619</pose>
		        <geometry>
		        	<mesh>
		            	<scale>1 1 1</scale>
			    		<uri>model://spiri/meshes/spiri_shank.dae</uri>
		          	</mesh>
		        </geometry>
	      	</visual>   
	    </link>
	    <link name='imu_link'>
	      <pose>0 0 0 0 0 0</pose>
	      <inertial>
		<mass>0.015</mass>
		<inertia>
		  <ixx>1e-05</ixx>
		  <ixy>0</ixy>
		  <ixz>0</ixz>
		  <iyy>1e-05</iyy>
		  <iyz>0</iyz>
		  <izz>1e-05</izz>
		</inertia>
	      </inertial>
	    </link>
	    <joint name='imu_joint' type='revolute'>
	      <child>imu_link</child>
	      <parent>base</parent>
	      <axis>
		<xyz>1 0 0</xyz>
		<limit>
		  <lower>0</lower>
		  <upper>0</upper>
		  <effort>0</effort>
		  <velocity>0</velocity>
		</limit>
		<dynamics>
		  <spring_reference>0</spring_reference>
		  <spring_stiffness>0</spring_stiffness>
		</dynamics>
		<use_parent_model_frame>1</use_parent_model_frame>
	      </axis>
	    </joint>
 	    <link name='propeller_LF'>
		    <pose frame=''>0.165037 0.165037 0.042 0 -0 0.785398</pose>
		    <inertial>
			<pose frame=''>0 0 0 0 -0 0</pose>
			<mass>0.01</mass>
			<inertia>
			  	<ixx>0.0005299083</ixx>
			  	<ixy>0</ixy>
			  	<ixz>0</ixz>
			  	<iyy>0.0005235333</iyy>
			  	<iyz>0</iyz>
			  	<izz>0.000011775</izz>
			</inertia>
		    </inertial>
		    <collision name='propeller_LF_collision'>
			<pose frame=''>0 0 0.009 0 -0 0</pose>
			<geometry>
			  	<box>
			    	<size>0.033 0.25 0.018</size>
			  	</box>
			</geometry>
		    </collision>
		    <visual name='propeller_LF_visual'>
			    <pose frame=''>0 0 0 0 -0 0.785398</pose>
			    <geometry>
				    <mesh>
				       	<scale>1 1 1</scale>
						<uri>model://spiri/meshes/spiri_propeller.dae</uri> 
				    </mesh>
			    </geometry>
		    </visual>
            </link>
	    <joint name='shank_LF_to_propeller_LF' type='revolute'>
		    <child>propeller_LF</child>
		    <parent>base</parent>
		    <axis>
		        <xyz>0 0 1</xyz>
		        <limit>
			        <lower>-1e+16</lower>
			        <upper>1e+16</upper>
		        </limit>
		        <dynamics>
			        <spring_reference>0</spring_reference>
			        <spring_stiffness>0</spring_stiffness>
		        </dynamics>
		        <use_parent_model_frame>1</use_parent_model_frame>
		    </axis>
	    </joint>
	    <link name='propeller_LH'>
		    <pose frame=''>-0.165037 0.165037 0.042 0 -0 2.35619</pose>
		    <inertial>
		        <pose frame=''>0 0 0 0 -0 0</pose>
		        <mass>0.01</mass>
		        <inertia>
			        <ixx>0.0005299083</ixx>
			        <ixy>0</ixy>
			        <ixz>0</ixz>
			        <iyy>0.0005235333</iyy>
			        <iyz>0</iyz>
			        <izz>0.000011775</izz>
		        </inertia>
		    </inertial>
		    <collision name='propeller_LH_collision'>
		        <pose frame=''>0 0 0.009 0 -0 0</pose>
		        <geometry>
		          	<box>
		            	<size>0.033 0.25 0.018</size>
		          	</box>
		        </geometry>
		    </collision>
	      	<visual name='propeller_LH_visual'>
	        	<pose frame=''>0 0 0 0 -0 0.785398</pose>
	        	<geometry>
		          	<mesh>
		            	<scale>1 1 1</scale>
			    		<uri>model://spiri/meshes/spiri_propeller.dae</uri>
			        </mesh>
	        	</geometry>
	      	</visual>
	    </link>
	    <joint name='shank_LH_to_propeller_LH' type='revolute'>
	      	<child>propeller_LH</child>
	      	<parent>base</parent>
	      	<axis>
	        	<xyz>0 0 1</xyz>
		        <limit>
			        <lower>-1e+16</lower>
			        <upper>1e+16</upper>
		        </limit>
		        <dynamics>
		          	<spring_reference>0</spring_reference>
		          	<spring_stiffness>0</spring_stiffness>
		        </dynamics>
		        <use_parent_model_frame>1</use_parent_model_frame>
	      	</axis>
	    </joint>
	    <link name='propeller_RF'>
		    <pose frame=''>0.165037 -0.165037 0.042 0 0 -0.785398</pose>
		    <inertial>
		        <pose frame=''>0 0 0 0 -0 0</pose>
		        <mass>0.01</mass>
		        <inertia>
		          	<ixx>0.0005299083</ixx>
		          	<ixy>0</ixy>
		          	<ixz>0</ixz>
		          	<iyy>0.0005235333</iyy>
		          	<iyz>0</iyz>
		          	<izz>0.000011775</izz>
		        </inertia>
		    </inertial>
	      	<collision name='propeller_RF_collision'>
	        	<pose frame=''>0 0 0.009 0 -0 0</pose>
		        <geometry>
		          	<box>
		           		<size>0.033 0.25 0.018</size>
		          	</box>
		        </geometry>
	      	</collision>
		    <visual name='propeller_RF_visual'>
		        <pose frame=''>0 0 0 0 -0 0.785398</pose>
		        <geometry>
		          	<mesh>
			            <scale>1 1 1</scale>
				    	<uri>model://spiri/meshes/spiri_propeller.dae</uri>   
		          	</mesh>
		        </geometry>
		    </visual>
	    </link>
	    <joint name='shank_RF_to_propeller_RF' type='revolute'>
		    <child>propeller_RF</child>
		    <parent>base</parent>
		    <axis>
		        <xyz>0 0 1</xyz>
		        <limit>
		        	<lower>-1e+16</lower>
		          	<upper>1e+16</upper>
		        </limit>
		        <dynamics>
		          	<spring_reference>0</spring_reference>
		          	<spring_stiffness>0</spring_stiffness>
		        </dynamics>
		        <use_parent_model_frame>1</use_parent_model_frame>
		    </axis>
	    </joint>

	    <link name='propeller_RH'>
	      	<pose frame=''>-0.165037 -0.165037 0.042 0 0 -2.35619</pose>
	      	<inertial>
		        <pose frame=''>0 0 0 0 -0 0</pose>
		        <mass>0.01</mass>
		        <inertia>
		          	<ixx>0.0005299083</ixx>
		          	<ixy>0</ixy>
		          	<ixz>0</ixz>
		          	<iyy>0.0005235333</iyy>
		          	<iyz>0</iyz>
		          	<izz>0.000011775</izz>
		        </inertia>
	        </inertial>
	      	<collision name='propeller_RH_collision'>
	        	<pose frame=''>0 0 0.009 0 -0 0</pose>
	        	<geometry>
		          	<box>
		            	<size>0.033 0.25 0.018</size>
		          	</box>
	       		</geometry>
	      	</collision>
	      	<visual name='propeller_RH_visual'>
	        	<pose frame=''>0 0 0 0 -0 0.785398</pose>
	        	<geometry>
	          		<mesh>
	            		<scale>1 1 1</scale>
		    			<uri>model://spiri/meshes/spiri_propeller.dae</uri>	            
	          		</mesh>
	        	</geometry>
	      	</visual>
	    </link>
	    <joint name='shank_RH_to_propeller_RH' type='revolute'>
	      	<child>propeller_RH</child>
	      	<parent>base</parent>
	      	<axis>
	        <xyz>0 0 1</xyz>
	        <limit>
	        	<lower>-1e+16</lower>
	          	<upper>1e+16</upper>
	        </limit>
	        <dynamics>
	          	<spring_reference>0</spring_reference>
	          	<spring_stiffness>0</spring_stiffness>
	        </dynamics>
	        <use_parent_model_frame>1</use_parent_model_frame>
	      	</axis>
	    </joint>
	    <model name='gps0'>
	      <self_collide>0</self_collide>
	      <link name='gps0_link'>
		<pose>0 0 0.01 0 0 0</pose>
		<inertial>
		  <pose>0 0 0 0 0 0</pose>
		  <mass>0.01</mass>
		  <inertia>
		    <ixx>2.1733e-06</ixx>
		    <ixy>0</ixy>
		    <ixz>0</ixz>
		    <iyy>2.1733e-06</iyy>
		    <iyz>0</iyz>
		    <izz>1.8e-07</izz>
		  </inertia>
		</inertial>
		<visual name='visual'>
		  <geometry>
		    <cylinder>
		      <radius>0.01</radius>
		      <length>0.002</length>
		    </cylinder>
		  </geometry>
		  <material>
		    <script>
		      <name>Gazebo/Black</name>
		      <uri>__default__</uri>
		    </script>
		  </material>
		</visual>
		<sensor name='gps' type='gps'>
		  <pose>0 0 0 0 0 0</pose>
		  <plugin name='gps_plugin' filename='libgazebo_gps_plugin.so'>
		    <robotNamespace/>
		    <gpsNoise>1</gpsNoise>
		    <gpsXYRandomWalk>2.0</gpsXYRandomWalk>
		    <gpsZRandomWalk>4.0</gpsZRandomWalk>
		    <gpsXYNoiseDensity>0.0002</gpsXYNoiseDensity>
		    <gpsZNoiseDensity>0.0004</gpsZNoiseDensity>
		    <gpsVXYNoiseDensity>0.2</gpsVXYNoiseDensity>
		    <gpsVZNoiseDensity>0.4</gpsVZNoiseDensity>
		  </plugin>
		</sensor>
	      </link>
	     <joint name='gps0_joint' type='fixed'>
	       <parent>base</parent>
	       <child>gps0_link</child>
	     </joint>
	     </model>
<!--sonar>
  <link name="sonar_link">
    <pose frame=''>0 0 0 0 1.57 0</pose>
    <inertial> <! causes issues when omitted >
      <mass>0.05</mass>
      <inertia>
        <ixx>2.08333333333e-07</ixx>
        <iyy>5.20833333333e-07</iyy>
        <izz>5.20833333333e-07</izz>
      </inertia>
    </inertial>
    <visual name="sonar_link_visual">
      <pose frame=''>0 0 0 0 0 0</pose>
      <geometry>
        <cylinder>
          <length>0.008</length>
          <radius>0.004</radius>
        </cylinder>
      </geometry>
      <material>
        <script>
          <name>Gazebo/Blue</name>
          <uri>file://media/materials/scripts/gazebo.material</uri>
        </script>
      </material>
    </visual>
    <sensor type="ray" name="spiri_sonar">
      <update_rate>10</update_rate>
      <visualize>true</visualize>
      <ray>
        <scan>
          <horizontal>
            <samples>1</samples>
            <resolution>1</resolution>
            <min_angle>-0</min_angle>
            <max_angle>0</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.06</min> <! do not lower past 0.06 >
          <max>35</max>   <! do not increase past 35 >
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="spiri_sonar" filename="libgazebo_ros_range.so">
        <gaussianNoise>0.005</gaussianNoise>
        <alwaysOn>true</alwaysOn>
        <updateRate>10</updateRate>
        <topicName>/mavros/distance_sensor</topicName>
        <frameName>sonar_link</frameName>
        <fov>0</fov>
        <radiation>ultrasound</radiation>
      </plugin>
    </sensor>
  </link>
  <joint name="sonar_joint" type="fixed">
    <parent>base</parent>
    <child>sonar_link</child>
  </joint-->
   <!--px4flow camera-->
    <!--include>
      <uri>model://px4flow</uri>
      <pose>0.05 0 -0.05 0 0 0</pose>
    </include>

    <joint name="px4flow_joint" type="revolute">
      <parent>spiri::base</parent>
      <child>px4flow::link</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
      </axis>
    </joint-->

    <!--lidar>
    <include>
      <uri>model://lidar</uri>
      <pose>0 0 -0.05 0 0 0</pose>
    </include>

    <joint name="lidar_joint" type="fixed">
      <parent>spiri::base</parent>
      <child>lidar::link</child>
    </joint-->
	    <plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
	      <robotNamespace/>
	      <linkName>base</linkName>
	      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
	    </plugin>
	    <plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
	      <robotNamespace/>
	      <jointName>shank_RF_to_propeller_RF</jointName>
	      <linkName>propeller_RF</linkName>
	      <turningDirection>ccw</turningDirection>
	      <timeConstantUp>0.0125</timeConstantUp>
	      <timeConstantDown>0.025</timeConstantDown>
	      <maxRotVelocity>1100</maxRotVelocity>
	      <motorConstant>5.84e-06</motorConstant>
	      <momentConstant>0.06</momentConstant>
	      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
	      <motorNumber>0</motorNumber>
	      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
	      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
	      <motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
	      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
	    </plugin>
	    <plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
	      <robotNamespace/>
	      <jointName>shank_LH_to_propeller_LH</jointName>
	      <linkName>propeller_LH</linkName>
	      <turningDirection>ccw</turningDirection>
	      <timeConstantUp>0.0125</timeConstantUp>
	      <timeConstantDown>0.025</timeConstantDown>
	      <maxRotVelocity>1100</maxRotVelocity>
	      <motorConstant>5.84e-06</motorConstant>
	      <momentConstant>0.06</momentConstant>
	      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
	      <motorNumber>1</motorNumber>
	      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
	      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
	      <motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
	      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
	    </plugin>
	    <plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
	      <robotNamespace/>
	      <jointName>shank_LF_to_propeller_LF</jointName>
	      <linkName>propeller_LF</linkName>
	      <turningDirection>cw</turningDirection>
	      <timeConstantUp>0.0125</timeConstantUp>
	      <timeConstantDown>0.025</timeConstantDown>
	      <maxRotVelocity>1100</maxRotVelocity>
	      <motorConstant>5.84e-06</motorConstant>
	      <momentConstant>0.06</momentConstant>
	      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
	      <motorNumber>2</motorNumber>
	      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
	      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
	      <motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
	      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
	    </plugin>
	    <plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'>
	      <robotNamespace/>
	      <jointName>shank_RH_to_propeller_RH</jointName>
	      <linkName>propeller_RH</linkName>
	      <turningDirection>cw</turningDirection>
	      <timeConstantUp>0.0125</timeConstantUp>
	      <timeConstantDown>0.025</timeConstantDown>
	      <maxRotVelocity>1100</maxRotVelocity>
	      <motorConstant>5.84e-06</motorConstant>
	      <momentConstant>0.06</momentConstant>
	      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
	      <motorNumber>3</motorNumber>
	      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
	      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
	      <motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
	      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
	    </plugin>
	    <plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
	      <robotNamespace/>
	    </plugin>
	    <plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
	      <robotNamespace/>
	      <pubRate>100</pubRate>
	      <noiseDensity>0.0004</noiseDensity>
	      <randomWalk>6.4e-06</randomWalk>
	      <biasCorrelationTime>600</biasCorrelationTime>
	      <magTopic>/mag</magTopic>
	    </plugin>
	    <plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
	      <robotNamespace/>
	      <pubRate>50</pubRate>
	      <baroTopic>/baro</baroTopic>
	      <baroDriftPaPerSec>0</baroDriftPaPerSec>
	    </plugin>
	    <plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
	      <robotNamespace/>
	      <imuSubTopic>/imu</imuSubTopic>
	      <magSubTopic>/mag</magSubTopic>
	      <baroSubTopic>/baro</baroSubTopic>
	      <mavlink_addr>INADDR_ANY</mavlink_addr>
	      <mavlink_tcp_port>4560</mavlink_tcp_port>
	      <mavlink_udp_port>14560</mavlink_udp_port>
	      <serialEnabled>0</serialEnabled>
	      <serialDevice>/dev/ttyACM0</serialDevice>
	      <baudRate>921600</baudRate>
	      <qgc_addr>INADDR_ANY</qgc_addr>
	      <qgc_udp_port>14550</qgc_udp_port>
	      <sdk_addr>INADDR_ANY</sdk_addr>
	      <sdk_udp_port>14540</sdk_udp_port>
	      <hil_mode>0</hil_mode>
	      <hil_state_level>0</hil_state_level>
	      <send_vision_estimation>0</send_vision_estimation>
	      <send_odometry>1</send_odometry>
	      <enable_lockstep>1</enable_lockstep>
	      <use_tcp>1</use_tcp> <!--This needs to be set to 1-->
	      <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
	      <control_channels>
		<channel name='rotor1'>
		  <input_index>0</input_index>
		  <input_offset>0</input_offset>
		  <input_scaling>1000</input_scaling>
		  <zero_position_disarmed>0</zero_position_disarmed>
		  <zero_position_armed>100</zero_position_armed>
		  <joint_control_type>velocity</joint_control_type>
		</channel>
		<channel name='rotor2'>
		  <input_index>1</input_index>
		  <input_offset>0</input_offset>
		  <input_scaling>1000</input_scaling>
		  <zero_position_disarmed>0</zero_position_disarmed>
		  <zero_position_armed>100</zero_position_armed>
		  <joint_control_type>velocity</joint_control_type>
		</channel>
		<channel name='rotor3'>
		  <input_index>2</input_index>
		  <input_offset>0</input_offset>
		  <input_scaling>1000</input_scaling>
		  <zero_position_disarmed>0</zero_position_disarmed>
		  <zero_position_armed>100</zero_position_armed>
		  <joint_control_type>velocity</joint_control_type>
		</channel>
		<channel name='rotor4'>
		  <input_index>3</input_index>
		  <input_offset>0</input_offset>
		  <input_scaling>1000</input_scaling>
		  <zero_position_disarmed>0</zero_position_disarmed>
		  <zero_position_armed>100</zero_position_armed>
		  <joint_control_type>velocity</joint_control_type>
		</channel>
		<channel name='rotor5'>
		  <input_index>4</input_index>
		  <input_offset>1</input_offset>
		  <input_scaling>324.6</input_scaling>
		  <zero_position_disarmed>0</zero_position_disarmed>
		  <zero_position_armed>0</zero_position_armed>
		  <joint_control_type>velocity</joint_control_type>
		  <joint_control_pid>
		    <p>0.1</p>
		    <i>0</i>
		    <d>0</d>
		    <iMax>0.0</iMax>
		    <iMin>0.0</iMin>
		    <cmdMax>2</cmdMax>
		    <cmdMin>-2</cmdMin>
		  </joint_control_pid>
		  <joint_name>zephyr_delta_wing::propeller_joint</joint_name>
		</channel>
		<channel name='rotor6'>
		  <input_index>5</input_index>
		  <input_offset>0</input_offset>
		  <input_scaling>0.524</input_scaling>
		  <zero_position_disarmed>0</zero_position_disarmed>
		  <zero_position_armed>0</zero_position_armed>
		  <joint_control_type>position</joint_control_type>
		  <joint_name>zephyr_delta_wing::flap_left_joint</joint_name>
		  <joint_control_pid>
		    <p>10.0</p>
		    <i>0</i>
		    <d>0</d>
		    <iMax>0</iMax>
		    <iMin>0</iMin>
		    <cmdMax>20</cmdMax>
		    <cmdMin>-20</cmdMin>
		  </joint_control_pid>
		</channel>
		<channel name='rotor7'>
		  <input_index>6</input_index>
		  <input_offset>0</input_offset>
		  <input_scaling>0.524</input_scaling>
		  <zero_position_disarmed>0</zero_position_disarmed>
		  <zero_position_armed>0</zero_position_armed>
		  <joint_control_type>position</joint_control_type>
		  <joint_name>zephyr_delta_wing::flap_right_joint</joint_name>
		  <joint_control_pid>
		    <p>10.0</p>
		    <i>0</i>
		    <d>0</d>
		    <iMax>0</iMax>
		    <iMin>0</iMin>
		    <cmdMax>20</cmdMax>
		    <cmdMin>-20</cmdMin>
		  </joint_control_pid>
		</channel>
		<channel name='rotor8'>
		  <input_index>7</input_index>
		  <input_offset>0</input_offset>
		  <input_scaling>0.524</input_scaling>
		  <zero_position_disarmed>0</zero_position_disarmed>
		  <zero_position_armed>0</zero_position_armed>
		  <joint_control_type>position</joint_control_type>
		</channel>
	      </control_channels>
	    </plugin>
	    <plugin name='rotors_gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
	      <robotNamespace/>
	      <linkName>imu_link</linkName>
	      <imuTopic>/imu</imuTopic>
	      <gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity>
	      <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
	      <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
	      <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
	      <accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity>
	      <accelerometerRandomWalk>0.006</accelerometerRandomWalk>
	      <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
	      <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
	    </plugin>
  </model>
</sdf>