mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
[conf] add simple x-mode quad jsbsim models
This commit is contained in:
Felix Ruess
@@ -11,19 +11,20 @@
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<configure name="GPS_PORT" value="UART2"/>
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<!-- <define name="ACTUATORS_START_DELAY" value="1"/> -->
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="asctec_v2"/>
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<subsystem name="telemetry" type="xbee_api"/>
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<define name="RADIO_KILL_SWITCH" value="RADIO_FLAPS"/>
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<define name="USE_KILL_SWITCH_FOR_MOTOR_ARMING" value="1"/>
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<define name="USE_I2C_ACTUATORS_REBOOT_HACK"/>
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</target>
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<target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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<subsystem name="radio_control" type="ppm"/>
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="mkk"/>
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</target>
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<subsystem name="motor_mixing"/>
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<subsystem name="actuators" type="asctec_v2"/>
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<subsystem name="telemetry" type="xbee_api"/>
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<subsystem name="imu" type="aspirin_v2.1"/>
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<subsystem name="gps" type="ublox"/>
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<subsystem name="stabilization" type="int_euler"/>
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@@ -192,13 +193,6 @@
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<!-- ************************* MISC ************************* -->
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<!-- for the sim target -->
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<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
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<define name="NB" value="4"/>
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<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
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</section>
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<section name="MAGNETICS" prefix="AHRS_H_">
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<define name="X" value="0.4"/>
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<define name="Y" value="0"/>
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@@ -209,15 +203,11 @@
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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</section>
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<section name="MISC">
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<define name="FACE_REINJ_1" value="1024"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="{"front_motor", "back_motor", "right_motor", "left_motor"}"/>
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<define name="ACTUATOR_NAMES" value="{"ne_motor", "se_motor", "sw_motor", "nw_motor"}"/>
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<define name="JSBSIM_INIT" value=""reset00""/>
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<define name="JSBSIM_MODEL" value=""simple_quad""/>
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<define name="SENSORS_PARAMS" value=""nps_sensors_params_booz2_a1.h""/>
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<define name="JSBSIM_MODEL" value=""simple_x_quad""/>
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<define name="SENSORS_PARAMS" value=""nps_sensors_params_default.h""/>
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</section>
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</airframe>
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@@ -43,8 +43,8 @@
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<servos driver="Default">
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<servo name="TOP_LEFT" no="0" min="0" neutral="1" max="500"/>
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<servo name="TOP_RIGHT" no="1" min="0" neutral="1" max="500"/>
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<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
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<servo name="BOTTOM_RIGHT" no="2" min="0" neutral="1" max="500"/>
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<servo name="BOTTOM_LEFT" no="3" min="0" neutral="1" max="500"/>
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</servos>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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@@ -54,7 +54,7 @@
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<define name="NB_MOTOR" value="4"/>
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<define name="SCALE" value="255"/>
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<!-- Time cross layout (X), as documented in paparazzi -->
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<!-- Time cross layout (X), with order NW (CW), NE (CCW), SE (CW), SW (CCW) -->
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<define name="ROLL_COEF" value="{ 256, -256, -256, 256 }"/>
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<define name="PITCH_COEF" value="{ 256, 256, -256, -256 }"/>
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<define name="YAW_COEF" value="{ -256, 256, -256, 256 }"/>
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@@ -63,10 +63,10 @@
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<command_laws>
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<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
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<set servo="TOP_LEFT" value="motor_mixing.commands[SERVO_TOP_LEFT]"/>
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<set servo="TOP_RIGHT" value="motor_mixing.commands[SERVO_TOP_RIGHT]"/>
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[SERVO_BOTTOM_LEFT]"/>
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[SERVO_BOTTOM_RIGHT]"/>
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<set servo="TOP_LEFT" value="motor_mixing.commands[0]"/>
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<set servo="TOP_RIGHT" value="motor_mixing.commands[1]"/>
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<set servo="BOTTOM_RIGHT" value="motor_mixing.commands[2]"/>
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<set servo="BOTTOM_LEFT" value="motor_mixing.commands[3]"/>
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</command_laws>
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<section name="IMU" prefix="IMU_">
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@@ -202,7 +202,8 @@
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="{"top_left_motor", "top_right_motor", "bottom_right_motor", "bottom_left_motor"}"/>
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<define name="ACTUATOR_NAMES" value="{"nw_motor", "ne_motor", "se_motor", "sw_motor"}"/>
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<define name="JSBSIM_MODEL" value=""simple_ardrone2""/>
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<define name="JSBSIM_INIT" value=""reset00""/>
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<define name="SENSORS_PARAMS" value=""nps_sensors_params_default.h""/>
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</section>
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@@ -0,0 +1,390 @@
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<?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 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">
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<fileheader>
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<author>Felix Ruess</author>
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<filecreationdate>20-12-2013</filecreationdate>
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<version>Version 0.9 - beta</version>
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<description>Simple ARDrone2 quad in X configuration without rotor dynamic (NE/SW turning CCW, NW/SE CW)</description>
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</fileheader>
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<metrics>
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<wingarea unit="IN2"> 78.53 </wingarea>
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<wingspan unit="IN"> 10 </wingspan>
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<chord unit="IN"> 6.89 </chord>
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<htailarea unit="FT2"> 0 </htailarea>
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<htailarm unit="FT"> 0 </htailarm>
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<vtailarea unit="FT2"> 0 </vtailarea>
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<vtailarm unit="FT"> 0 </vtailarm>
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<location name="AERORP" 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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<location name="EYEPOINT" 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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<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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<ixx unit="SLUG*FT2"> 0.005 </ixx>
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<iyy unit="SLUG*FT2"> 0.005 </iyy>
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<izz unit="SLUG*FT2"> 0.010 </izz>
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<ixy unit="SLUG*FT2"> 0. </ixy>
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<ixz unit="SLUG*FT2"> 0. </ixz>
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<iyz unit="SLUG*FT2"> 0. </iyz>
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<emptywt unit="KG"> 0.4 </emptywt>
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<location name="CG" unit="M">
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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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</mass_balance>
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<ground_reactions>
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<contact type="STRUCTURE" name="CONTACT_FRONT">
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<location unit="M">
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<x>-0.15 </x>
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<y> 0 </y>
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<z>-0.1 </z>
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</location>
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<static_friction> 0.8 </static_friction>
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<dynamic_friction> 0.5 </dynamic_friction>
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<spring_coeff unit="N/M"> 500 </spring_coeff>
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<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
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<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable>0</retractable>
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</contact>
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<contact type="STRUCTURE" name="CONTACT_BACK">
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<location unit="M">
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<x> 0.15</x>
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<y> 0 </y>
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<z>-0.1 </z>
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</location>
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<static_friction> 0.8 </static_friction>
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<dynamic_friction> 0.5 </dynamic_friction>
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<spring_coeff unit="N/M"> 500 </spring_coeff>
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<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
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<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable>0</retractable>
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</contact>
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<contact type="STRUCTURE" name="CONTACT_RIGHT">
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<location unit="M">
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<x> 0. </x>
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<y> 0.15</y>
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<z>-0.1 </z>
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</location>
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<static_friction> 0.8 </static_friction>
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<dynamic_friction> 0.5 </dynamic_friction>
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<spring_coeff unit="N/M"> 500 </spring_coeff>
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<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
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<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable>0</retractable>
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</contact>
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<contact type="STRUCTURE" name="CONTACT_LEFT">
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<location unit="M">
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<x> 0. </x>
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<y>-0.15</y>
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<z>-0.1 </z>
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</location>
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<static_friction> 0.8 </static_friction>
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<dynamic_friction> 0.5 </dynamic_friction>
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<spring_coeff unit="N/M"> 500 </spring_coeff>
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<damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
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<damping_coeff_rebound type="SQUARE" unit="N/M2/SEC2"> 1000 </damping_coeff_rebound>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable>0</retractable>
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</contact>
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</ground_reactions>
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<external_reactions>
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<property>fcs/ne_motor</property>
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<property>fcs/se_motor</property>
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<property>fcs/sw_motor</property>
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<property>fcs/nw_motor</property>
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<!-- First the lift forces produced by each propeller -->
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<force name="ne_motor" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/ne_motor</property>
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<value> 0.35 </value>
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</product>
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</function>
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<location unit="IN">
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<x>-4.87</x>
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<y>4.87</y>
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<z>0</z>
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</location>
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<direction>
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<x>0</x>
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<y>0</y>
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<z>-1</z>
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</direction>
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</force>
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<force name="sw_motor" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/sw_motor</property>
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<value> 0.35 </value>
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</product>
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</function>
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<location unit="IN">
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<x>4.87</x>
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<y>-4.87</y>
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<z>0</z>
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</location>
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<direction>
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<x>0</x>
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<y>0</y>
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<z>-1</z>
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</direction>
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</force>
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<force name="se_motor" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/se_motor</property>
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<value> 0.35 </value>
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</product>
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</function>
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<location unit="IN">
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<x>4.87</x>
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<y>4.87</y>
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<z>0</z>
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</location>
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<direction>
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<x>0</x>
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<y>0</y>
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<z>-1</z>
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</direction>
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</force>
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<force name="nw_motor" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/nw_motor</property>
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<value> 0.35 </value>
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</product>
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</function>
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<location unit="IN">
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<x>-4.87</x>
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<y>-4.87</y>
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<z>0</z>
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</location>
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<direction>
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<x>0</x>
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<y>0</y>
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<z>-1</z>
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</direction>
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</force>
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<!-- Then the Moment Couples -->
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<force name="ne_couple1" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/ne_motor</property>
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<value> 0.35 </value>
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</product>
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</function>
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<location unit="IN">
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<!-- Necessary arm in IN to produce a moment ten times
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"weaker" then the force when both are measured in the SI is 1.9685 in.
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x = -(4.87 - 1.9685/sqrt(2))
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y = 4.87 + 1.9685/sqrt(2) -->
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<x>-3.478</x>
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<y>6.262</y>
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<z>0</z>
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</location>
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<direction>
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<x>-0.7</x>
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<y>0.7</y>
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<z>0</z>
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</direction>
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</force>
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<force name="ne_couple2" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/ne_motor</property>
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<value> 0.35 </value>
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</product>
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</function>
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<location unit="IN">
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<x>-6.262</x>
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||||
<y>3.478</y>
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<z>0</z>
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</location>
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<direction>
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||||
<x>0.7</x>
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||||
<y>-0.7</y>
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||||
<z>0</z>
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||||
</direction>
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||||
</force>
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||||
|
||||
|
||||
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<force name="se_couple1" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/se_motor</property>
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<value> 0.35 </value>
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||||
</product>
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||||
</function>
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||||
<location unit="IN">
|
||||
<x>6.262</x>
|
||||
<y>3.478</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>-0.7</x>
|
||||
<y>-0.7</y>
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||||
<z>0</z>
|
||||
</direction>
|
||||
</force>
|
||||
|
||||
<force name="se_couple2" frame="BODY" unit="LBS">
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||||
<function>
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||||
<product>
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||||
<property>fcs/se_motor</property>
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||||
<value> 0.35 </value>
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||||
</product>
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||||
</function>
|
||||
<location unit="IN">
|
||||
<x>3.478</x>
|
||||
<y>6.262</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>0.7</x>
|
||||
<y>0.7</y>
|
||||
<z>0</z>
|
||||
</direction>
|
||||
</force>
|
||||
|
||||
|
||||
|
||||
<force name="sw_couple1" frame="BODY" unit="LBS">
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||||
<function>
|
||||
<product>
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||||
<property>fcs/sw_motor</property>
|
||||
<value> 0.35 </value>
|
||||
</product>
|
||||
</function>
|
||||
<location unit="IN">
|
||||
<x>3.478</x>
|
||||
<y>-6.262</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>0.7</x>
|
||||
<y>-0.7</y>
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||||
<z>0</z>
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||||
</direction>
|
||||
</force>
|
||||
|
||||
<force name="sw_couple2" frame="BODY" unit="LBS">
|
||||
<function>
|
||||
<product>
|
||||
<property>fcs/sw_motor</property>
|
||||
<value> 0.35 </value>
|
||||
</product>
|
||||
</function>
|
||||
<location unit="IN">
|
||||
<x>6.262</x>
|
||||
<y>-3.478</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>-0.7</x>
|
||||
<y>0.7</y>
|
||||
<z>0</z>
|
||||
</direction>
|
||||
</force>
|
||||
|
||||
|
||||
|
||||
<force name="nw_couple1" frame="BODY" unit="LBS">
|
||||
<function>
|
||||
<product>
|
||||
<property>fcs/nw_motor</property>
|
||||
<value> 0.35 </value>
|
||||
</product>
|
||||
</function>
|
||||
<location unit="IN">
|
||||
<x>-6.262</x>
|
||||
<y>-3.478</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>0.7</x>
|
||||
<y>0.7</y>
|
||||
<z>0</z>
|
||||
</direction>
|
||||
</force>
|
||||
|
||||
<force name="nw_couple2" frame="BODY" unit="LBS">
|
||||
<function>
|
||||
<product>
|
||||
<property>fcs/nw_motor</property>
|
||||
<value> 0.35 </value>
|
||||
</product>
|
||||
</function>
|
||||
<location unit="IN">
|
||||
<x>-3.478</x>
|
||||
<y>-6.262</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>-0.7</x>
|
||||
<y>-0.7</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>
|
||||
@@ -6,7 +6,7 @@
|
||||
<author>Gustavo Violato & Antoine Drouin</author>
|
||||
<filecreationdate>24-02-2009</filecreationdate>
|
||||
<version>Version 0.9 - beta</version>
|
||||
<description>Simple Quadrotor without rotor dynamic (front/back motors turning CW, left/right CCW)</description>
|
||||
<description>Simple Quadrotor in + configuration without rotor dynamic (front/back motors turning CW, left/right CCW)</description>
|
||||
</fileheader>
|
||||
|
||||
<metrics>
|
||||
|
||||
@@ -0,0 +1,395 @@
|
||||
<?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 - 1.9685/sqrt(2))
|
||||
y = 4.87 + 1.9685/sqrt(2) -->
|
||||
<x>-3.478</x>
|
||||
<y>6.262</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>0.7</x>
|
||||
<y>-0.7</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>-6.262</x>
|
||||
<y>3.478</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>-0.7</x>
|
||||
<y>0.7</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>6.262</x>
|
||||
<y>3.478</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>0.7</x>
|
||||
<y>0.7</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>3.478</x>
|
||||
<y>6.262</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>-0.7</x>
|
||||
<y>-0.7</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>3.478</x>
|
||||
<y>-6.262</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>-0.7</x>
|
||||
<y>0.7</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>6.262</x>
|
||||
<y>-3.478</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>0.7</x>
|
||||
<y>-0.7</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>-6.262</x>
|
||||
<y>-3.478</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>-0.7</x>
|
||||
<y>-0.7</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>-3.478</x>
|
||||
<y>-6.262</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>0.7</x>
|
||||
<y>0.7</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>
|
||||
@@ -0,0 +1,395 @@
|
||||
<?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 CCW, NW/SE CW)</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 - 1.9685/sqrt(2))
|
||||
y = 4.87 + 1.9685/sqrt(2) -->
|
||||
<x>-3.478</x>
|
||||
<y>6.262</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>-0.7</x>
|
||||
<y>0.7</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>-6.262</x>
|
||||
<y>3.478</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>0.7</x>
|
||||
<y>-0.7</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>6.262</x>
|
||||
<y>3.478</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>-0.7</x>
|
||||
<y>-0.7</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>3.478</x>
|
||||
<y>6.262</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>0.7</x>
|
||||
<y>0.7</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>3.478</x>
|
||||
<y>-6.262</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>0.7</x>
|
||||
<y>-0.7</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>6.262</x>
|
||||
<y>-3.478</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>-0.7</x>
|
||||
<y>0.7</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>-6.262</x>
|
||||
<y>-3.478</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>0.7</x>
|
||||
<y>0.7</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>-3.478</x>
|
||||
<y>-6.262</y>
|
||||
<z>0</z>
|
||||
</location>
|
||||
<direction>
|
||||
<x>-0.7</x>
|
||||
<y>-0.7</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>
|
||||
Reference in New Issue
Block a user