<?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>Felix Ruess</author>
    <filecreationdate>20-12-2013</filecreationdate>
    <version>Version 0.9 - beta</version>
    <description>Simple Quadrotor 350 in X configuration without rotor dynamic (NE/SW turning CW, NW/SE CCW)</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/ne_motor</property>
    <property>fcs/se_motor</property>
    <property>fcs/sw_motor</property>
    <property>fcs/nw_motor</property>

    <!-- First the lift forces produced by each propeller -->

    <force name="ne_motor" frame="BODY" unit="LBS">
      <function>
        <product>
          <property>fcs/ne_motor</property>
          <value> 0.84 </value>
        </product>
      </function>
      <location unit="IN">
        <x>-4.87</x>
        <y>4.87</y>
        <z>0</z>
      </location>
      <direction>
        <x>0</x>
        <y>0</y>
        <z>-1</z>
      </direction>
    </force>

    <force name="sw_motor" frame="BODY" unit="LBS">
      <function>
        <product>
          <property>fcs/sw_motor</property>
          <value> 0.84 </value>
        </product>
      </function>
      <location unit="IN">
        <x>4.87</x>
        <y>-4.87</y>
        <z>0</z>
      </location>
      <direction>
        <x>0</x>
        <y>0</y>
        <z>-1</z>
      </direction>
    </force>

    <force name="se_motor" frame="BODY" unit="LBS">
      <function>
        <product>
          <property>fcs/se_motor</property>
          <value> 0.84 </value>
        </product>
      </function>
      <location unit="IN">
        <x>4.87</x>
        <y>4.87</y>
        <z>0</z>
      </location>
      <direction>
        <x>0</x>
        <y>0</y>
        <z>-1</z>
      </direction>
    </force>

    <force name="nw_motor" frame="BODY" unit="LBS">
      <function>
        <product>
          <property>fcs/nw_motor</property>
          <value> 0.84 </value>
        </product>
      </function>
      <location unit="IN">
        <x>-4.87</x>
        <y>-4.87</y>
        <z>0</z>
      </location>
      <direction>
        <x>0</x>
        <y>0</y>
        <z>-1</z>
      </direction>
    </force>

    <!-- Then the Moment Couples -->


    <force name="ne_couple1" frame="BODY" unit="LBS">
      <function>
        <product>
          <property>fcs/ne_motor</property>
          <value> 0.84 </value>
        </product>
      </function>
      <location unit="IN">
        <!-- Necessary arm in IN to produce a moment ten times
        "weaker" then the force when both are measured in the SI is 1.9685 in. -->
        <x>-4.87</x>
        <y>6.8385</y>
        <z>0</z>
      </location>
      <direction>
        <x>1</x>
        <y>0</y>
        <z>0</z>
      </direction>
    </force>

    <force name="ne_couple2" frame="BODY" unit="LBS">
      <function>
        <product>
          <property>fcs/ne_motor</property>
          <value> 0.84 </value>
        </product>
      </function>
      <location unit="IN">
        <x>-4.87</x>
        <y>2.9015</y>
        <z>0</z>
      </location>
      <direction>
        <x>-1</x>
        <y>0</y>
        <z>0</z>
      </direction>
    </force>



    <force name="se_couple1" frame="BODY" unit="LBS">
      <function>
        <product>
          <property>fcs/se_motor</property>
          <value> 0.84 </value>
        </product>
      </function>
      <location unit="IN">
        <x>4.87</x>
        <y>6.8385</y>
        <z>0</z>
      </location>
      <direction>
        <x>-1</x>
        <y>0</y>
        <z>0</z>
      </direction>
    </force>

    <force name="se_couple2" frame="BODY" unit="LBS">
      <function>
        <product>
          <property>fcs/se_motor</property>
          <value> 0.84 </value>
        </product>
      </function>
      <location unit="IN">
        <x>4.87</x>
        <y>2.9015</y>
        <z>0</z>
      </location>
      <direction>
        <x>1</x>
        <y>0</y>
        <z>0</z>
      </direction>
    </force>



    <force name="sw_couple1" frame="BODY" unit="LBS">
      <function>
        <product>
          <property>fcs/sw_motor</property>
          <value> 0.84 </value>
        </product>
      </function>
      <location unit="IN">
        <x>4.87</x>
        <y>-2.9015</y>
        <z>0</z>
      </location>
      <direction>
        <x>1</x>
        <y>0</y>
        <z>0</z>
      </direction>
    </force>

    <force name="sw_couple2" frame="BODY" unit="LBS">
      <function>
        <product>
          <property>fcs/sw_motor</property>
          <value> 0.84 </value>
        </product>
      </function>
      <location unit="IN">
        <x>4.87</x>
        <y>-6.8385</y>
        <z>0</z>
      </location>
      <direction>
        <x>-1</x>
        <y>0</y>
        <z>0</z>
      </direction>
    </force>



    <force name="nw_couple1" frame="BODY" unit="LBS">
      <function>
        <product>
          <property>fcs/nw_motor</property>
          <value> 0.84 </value>
        </product>
      </function>
      <location unit="IN">
        <x>-4.87</x>
        <y>-2.9015</y>
        <z>0</z>
      </location>
      <direction>
        <x>-1</x>
        <y>0</y>
        <z>0</z>
      </direction>
    </force>

    <force name="nw_couple2" frame="BODY" unit="LBS">
      <function>
        <product>
          <property>fcs/nw_motor</property>
          <value> 0.84 </value>
        </product>
      </function>
      <location unit="IN">
        <x>-4.87</x>
        <y>-6.8385</y>
        <z>0</z>
      </location>
      <direction>
        <x>1</x>
        <y>0</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>
