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[paparazzi-commits] [4684] added simulation vehicle
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From: |
antoine drouin |
|
Subject: |
[paparazzi-commits] [4684] added simulation vehicle |
|
Date: |
Mon, 15 Mar 2010 15:38:29 +0000 |
Revision: 4684
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4684
Author: poine
Date: 2010-03-15 15:38:29 +0000 (Mon, 15 Mar 2010)
Log Message:
-----------
added simulation vehicle
Added Paths:
-----------
paparazzi3/trunk/conf/simulator/jsbsim/aircraft/BOOZ2_A1P.xml
Added: paparazzi3/trunk/conf/simulator/jsbsim/aircraft/BOOZ2_A1P.xml
===================================================================
--- paparazzi3/trunk/conf/simulator/jsbsim/aircraft/BOOZ2_A1P.xml
(rev 0)
+++ paparazzi3/trunk/conf/simulator/jsbsim/aircraft/BOOZ2_A1P.xml
2010-03-15 15:38:29 UTC (rev 4684)
@@ -0,0 +1,396 @@
+<?xml version="1.0"?>
+<?xml-stylesheet type="text/xsl"
href="http://jsbsim.sourceforge.net/JSBSim.xsl";?>
+<fdm_config name="QUAD COMPLETE EXT" version="2.0" release="BETA"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance";
xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd";>
+
+ <fileheader>
+ <author> Gustavo Violato & Antoine Drouin</author>
+ <filecreationdate> 24-02-2009 </filecreationdate>
+ <version> Version 0.9 - beta</version>
+ <description> Simple Quadrotor without rotor dynamic </description>
+ </fileheader>
+
+ <metrics>
+ <wingarea unit="IN2"> 78.53 </wingarea>
+ <wingspan unit="IN"> 10 </wingspan>
+ <chord unit="IN"> 6.89 </chord>
+ <htailarea unit="FT2"> 0 </htailarea>
+ <htailarm unit="FT"> 0 </htailarm>
+ <vtailarea unit="FT2"> 0 </vtailarea>
+ <vtailarm unit="FT"> 0 </vtailarm>
+ <location name="AERORP" unit="IN">
+ <x> 0 </x>
+ <y> 0 </y>
+ <z> 0 </z>
+ </location>
+ <location name="EYEPOINT" unit="IN">
+ <x> 0 </x>
+ <y> 0 </y>
+ <z> 0 </z>
+ </location>
+ <location name="VRP" unit="IN">
+ <x> 0 </x>
+ <y> 0 </y>
+ <z> 0 </z>
+ </location>
+ </metrics>
+
+ <mass_balance>
+ <ixx unit="SLUG*FT2"> 0.005 </ixx>
+ <iyy unit="SLUG*FT2"> 0.005 </iyy>
+ <izz unit="SLUG*FT2"> 0.010 </izz>
+ <ixy unit="SLUG*FT2"> 0. </ixy>
+ <ixz unit="SLUG*FT2"> 0. </ixz>
+ <iyz unit="SLUG*FT2"> 0. </iyz>
+ <emptywt unit="LBS"> 0.84 </emptywt>
+ <location name="CG" unit="M">
+ <x> 0 </x>
+ <y> 0 </y>
+ <z> 0 </z>
+ </location>
+ </mass_balance>
+
+ <ground_reactions>
+ <contact type="STRUCTURE" name="CONTACT_FRONT">
+ <location unit="M">
+ <x>-0.15 </x>
+ <y> 0 </y>
+ <z>-0.1 </z>
+ </location>
+ <static_friction> 0.8 </static_friction>
+ <dynamic_friction> 0.5 </dynamic_friction>
+ <spring_coeff unit="N/M"> 500 </spring_coeff>
+ <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+ <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000
</damping_coeff_rebound>
+ <max_steer unit="DEG"> 0.0 </max_steer>
+ <brake_group> NONE </brake_group>
+ <retractable>0</retractable>
+ </contact>
+
+ <contact type="STRUCTURE" name="CONTACT_BACK">
+ <location unit="M">
+ <x> 0.15</x>
+ <y> 0 </y>
+ <z>-0.1 </z>
+ </location>
+ <static_friction> 0.8 </static_friction>
+ <dynamic_friction> 0.5 </dynamic_friction>
+ <spring_coeff unit="N/M"> 500 </spring_coeff>
+ <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+ <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000
</damping_coeff_rebound>
+ <max_steer unit="DEG"> 0.0 </max_steer>
+ <brake_group> NONE </brake_group>
+ <retractable>0</retractable>
+ </contact>
+
+ <contact type="STRUCTURE" name="CONTACT_RIGHT">
+ <location unit="M">
+ <x> 0. </x>
+ <y> 0.15</y>
+ <z>-0.1 </z>
+ </location>
+ <static_friction> 0.8 </static_friction>
+ <dynamic_friction> 0.5 </dynamic_friction>
+ <spring_coeff unit="N/M"> 500 </spring_coeff>
+ <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+ <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000
</damping_coeff_rebound>
+ <max_steer unit="DEG"> 0.0 </max_steer>
+ <brake_group> NONE </brake_group>
+ <retractable>0</retractable>
+ </contact>
+
+ <contact type="STRUCTURE" name="CONTACT_LEFT">
+ <location unit="M">
+ <x> 0. </x>
+ <y>-0.15</y>
+ <z>-0.1 </z>
+ </location>
+ <static_friction> 0.8 </static_friction>
+ <dynamic_friction> 0.5 </dynamic_friction>
+ <spring_coeff unit="N/M"> 500 </spring_coeff>
+ <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
+ <damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000
</damping_coeff_rebound>
+ <max_steer unit="DEG"> 0.0 </max_steer>
+ <brake_group> NONE </brake_group>
+ <retractable>0</retractable>
+ </contact>
+ </ground_reactions>
+
+
+
+
+
+
+
+
+ <external_reactions>
+
+ <property>fcs/front_motor</property>
+ <property>fcs/back_motor</property>
+ <property>fcs/right_motor</property>
+ <property>fcs/left_motor</property>
+
+ <!-- First the lift forces produced by each propeller -->
+
+ <force name="front_motor" frame="BODY" unit="LBS">
+ <function>
+ <product>
+ <property>fcs/front_motor</property>
+ <value> 0.84 </value>
+ </product>
+ </function>
+ <location unit="IN">
+ <x>-6.89</x>
+ <y>0</y>
+ <z>0</z>
+ </location>
+ <direction>
+ <x>0</x>
+ <y>0</y>
+ <z>-1</z>
+ </direction>
+ </force>
+
+ <force name="back_motor" frame="BODY" unit="LBS">
+ <function>
+ <product>
+ <property>fcs/back_motor</property>
+ <value> 0.84 </value>
+ </product>
+ </function>
+ <location unit="IN">
+ <x>6.89</x>
+ <y>0</y>
+ <z>0</z>
+ </location>
+ <direction>
+ <x>0</x>
+ <y>0</y>
+ <z>-1</z>
+ </direction>
+ </force>
+
+ <force name="right_motor" frame="BODY" unit="LBS">
+ <function>
+ <product>
+ <property>fcs/right_motor</property>
+ <value> 0.84 </value>
+ </product>
+ </function>
+ <location unit="IN">
+ <x>0</x>
+ <y>6.89</y>
+ <z>0</z>
+ </location>
+ <direction>
+ <x>0</x>
+ <y>0</y>
+ <z>-1</z>
+ </direction>
+ </force>
+
+ <force name="left_motor" frame="BODY" unit="LBS">
+ <function>
+ <product>
+ <property>fcs/left_motor</property>
+ <value> 0.84 </value>
+ </product>
+ </function>
+ <location unit="IN">
+ <x>0</x>
+ <y>-6.89</y>
+ <z>0</z>
+ </location>
+ <direction>
+ <x>0</x>
+ <y>0</y>
+ <z>-1</z>
+ </direction>
+ </force>
+
+ <!-- Then the Moment Couples -->
+
+ <!-- Front Engine -->
+
+ <force name="front_couple1" frame="BODY" unit="LBS">
+ <function>
+ <product>
+ <property>fcs/front_motor</property>
+ <value> 0.84 </value>
+ </product>
+ </function>
+ <location unit="IN">
+ <x>-6.89</x>
+ <!-- Necessary arm in IN to produce a moment ten times
+ "weaker" then the force when both are measured in the SI.
+ front and back motors turning clockwise, left and right motors
+ turning anti-clockwise when view from up-->
+ <y>1.9685</y>
+ <z>0</z>
+ </location>
+ <direction>
+ <x>1</x>
+ <y>0</y>
+ <z>0</z>
+ </direction>
+ </force>
+
+ <force name="front_couple2" frame="BODY" unit="LBS">
+ <function>
+ <product>
+ <property>fcs/front_motor</property>
+ <value> 0.84 </value>
+ </product>
+ </function>
+ <location unit="IN">
+ <x>-6.89</x>
+ <y>-1.9685</y>
+ <z>0</z>
+ </location>
+ <direction>
+ <x>-1</x>
+ <y>0</y>
+ <z>0</z>
+ </direction>
+ </force>
+
+ <!-- Back Engine -->
+
+ <force name="back_couple1" frame="BODY" unit="LBS">
+ <function>
+ <product>
+ <property>fcs/back_motor</property>
+ <value> 0.84 </value>
+ </product>
+ </function>
+ <location unit="IN">
+ <x>6.89</x>
+ <y>1.9685</y>
+ <z>0</z>
+ </location>
+ <direction>
+ <x>1</x>
+ <y>0</y>
+ <z>0</z>
+ </direction>
+ </force>
+
+ <force name="back_couple2" frame="BODY" unit="LBS">
+ <function>
+ <product>
+ <property>fcs/back_motor</property>
+ <value> 0.84 </value>
+ </product>
+ </function>
+ <location unit="IN">
+ <x>6.89</x>
+ <y>-1.9685</y>
+ <z>0</z>
+ </location>
+ <direction>
+ <x>-1</x>
+ <y>0</y>
+ <z>0</z>
+ </direction>
+ </force>
+
+ <!-- Right Engine -->
+
+ <force name="right_couple1" frame="BODY" unit="LBS">
+ <function>
+ <product>
+ <property>fcs/right_motor</property>
+ <value> 0.84 </value>
+ </product>
+ </function>
+ <location unit="IN">
+ <x>-1.9685</x>
+ <y>6.89</y>
+ <z>0</z>
+ </location>
+ <direction>
+ <x>0</x>
+ <y>1</y>
+ <z>0</z>
+ </direction>
+ </force>
+
+ <force name="right_couple2" frame="BODY" unit="LBS">
+ <function>
+ <product>
+ <property>fcs/right_motor</property>
+ <value> 0.84 </value>
+ </product>
+ </function>
+ <location unit="IN">
+ <x>1.9685</x>
+ <y>6.89</y>
+ <z>0</z>
+ </location>
+ <direction>
+ <x>0</x>
+ <y>-1</y>
+ <z>0</z>
+ </direction>
+ </force>
+
+ <!-- Left Engine -->
+
+ <force name="left_couple1" frame="BODY" unit="LBS">
+ <function>
+ <product>
+ <property>fcs/left_motor</property>
+ <value> 0.84 </value>
+ </product>
+ </function>
+ <location unit="IN">
+ <x>-1.9685</x>
+ <y>-6.89</y>
+ <z>0</z>
+ </location>
+ <direction>
+ <x>0</x>
+ <y>1</y>
+ <z>0</z>
+ </direction>
+ </force>
+
+ <force name="left_couple2" frame="BODY" unit="LBS">
+ <function>
+ <product>
+ <property>fcs/left_motor</property>
+ <value> 0.84 </value>
+ </product>
+ </function>
+ <location unit="IN">
+ <x>1.9685</x>
+ <y>-6.89</y>
+ <z>0</z>
+ </location>
+ <direction>
+ <x>0</x>
+ <y>-1</y>
+ <z>0</z>
+ </direction>
+ </force>
+
+ </external_reactions>
+
+ <propulsion/>
+
+ <flight_control name="FGFCS"/>
+
+ <aerodynamics>
+ <axis name="DRAG">
+ <function name="aero/coefficient/CD">
+ <description>Drag</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <value>47.9</value> <!-- Conversion to pascals -->
+ <value>0.0151</value> <!-- CD x Area (m^2) -->
+ <value>0.224808943</value> <!-- N to LBS -->
+ </product>
+ </function>
+ </axis>
+ </aerodynamics>
+
+</fdm_config>
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