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[conf] add HooperFly airframes and JSBSim models

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This commit is contained in:
Richard A Burton
2015-02-04 23:04:41 +01:00
committed by Felix Ruess
parent 5016dbea8c
commit 9d49af3962
11 changed files with 3599 additions and 0 deletions
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conf/airframes/HooperFly/conf_hooperfly.xml
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<conf>
<aircraft
name="Teensy_Fly_Quad"
ac_id="218"
airframe="airframes/HooperFly/teensyfly_quad_lisa_mx_20.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
gui_color="white"
/>
<aircraft
name="Teensy_Fly_Hexa"
ac_id="219"
airframe="airframes/HooperFly/teensyfly_hexa_lisa_mx_20.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
gui_color="red"
/>
<aircraft
name="Racer_PEX_Quad"
ac_id="220"
airframe="airframes/HooperFly/racerpex_quad_lisa_mx_20.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
gui_color="blue"
/>
<aircraft
name="Racer_PEX_Hexa"
ac_id="221"
airframe="airframes/HooperFly/racerpex_hexa_lisa_mx_20.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
gui_color="green"
/>
<aircraft
name="Racer_PEX_Octo"
ac_id="222"
airframe="airframes/HooperFly/racerpex_octo_lisa_mx_20.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml settings/estimation/ahrs_int_cmpl_quat.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml"
gui_color="yellow"
/>
</conf>
conf/airframes/HooperFly/racerpex_hexa_lisa_mx_20.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a hexacopter frame in x-configuration equiped with
* Autopilot: Lisa/MX 2.0 with STM32F4 http://wiki.paparazziuav.org/wiki/Lisa/M_v20
* IMU: Integrated Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: two Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->
<airframe name="RacerPEX Hexa LisaMX_2.0 pwm">
<firmware name="rotorcraft">
<target name="ap" board="lisa_mx_2.0">
<!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
</subsystem>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.2"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/>
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
</firmware>
<modules>
<load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
</load>
<load name="gps_ubx_ucenter.xml"/>
<load name="geo_mag.xml"/>
<load name="air_data.xml"/>
</modules>
<servos driver="Pwm">
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1900"/>
<servo name="FRONT_RIGHT" no="1" min="1000" neutral="1100" max="1900"/>
<servo name="RIGHT" no="2" min="1000" neutral="1100" max="1900"/>
<servo name="BACK_RIGHT" no="3" min="1000" neutral="1100" max="1900"/>
<servo name="BACK_LEFT" no="4" min="1000" neutral="1100" max="1900"/>
<servo name="LEFT" no="5" min="1000" neutral="1100" max="1900"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="6"/>
<define name="SCALE" value="256"/>
<!-- order (and rotation direction) : FL(CW), FR(CCW), R(CW), BR(CCW), BL(CW), L(CCW) -->
<define name="ROLL_COEF" value="{ 128, -128, -256, -128, 128, 256 }"/>
<define name="PITCH_COEF" value="{ 256, 256, 0, -256, -256, 0 }"/>
<define name="YAW_COEF" value="{ -256, 256, -256, 256, -256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256 }"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
<set servo="BACK_RIGHT" value="motor_mixing.commands[3]"/>
<set servo="BACK_LEFT" value="motor_mixing.commands[4]"/>
<set servo="LEFT" value="motor_mixing.commands[5]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="-179"/>
<define name="MAG_Y_NEUTRAL" value="-21"/>
<define name="MAG_Z_NEUTRAL" value="79"/>
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="1000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="300"/>
<define name="THETA_DDGAIN" value="300"/>
<define name="PSI_DDGAIN" value="300"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;fl_motor&quot;, &quot;fr_motor&quot;, &quot;r_motor&quot;, &quot;br_motor&quot;, &quot;bl_motor&quot;, &quot;l_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;HooperFly/racerpex_hexa&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
<define name="ALT_SHIFT_PLUS" value="5"/>
<define name="ALT_SHIFT_MINUS" value="-5"/>
<define name="SPEECH_NAME" value="Racer PEX Hexa"/>
<define name="AC_ICON" value="hexarotor_x"/>
</section>
</airframe>
conf/airframes/HooperFly/racerpex_octo_lisa_mx_20.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is an octocopter frame in x-configuration equiped with
* Autopilot: Lisa/MX 2.0 with STM32F4 http://wiki.paparazziuav.org/wiki/Lisa/M_v20
* IMU: Integrated Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: two Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->
<airframe name="RacerPEX Octo LisaMX_2.0 pwm">
<firmware name="rotorcraft">
<target name="ap" board="lisa_mx_2.0">
<!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
</subsystem>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.2"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/>
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
</firmware>
<modules>
<load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
</load>
<load name="gps_ubx_ucenter.xml"/>
<load name="geo_mag.xml"/>
<load name="air_data.xml"/>
</modules>
<servos driver="Pwm">
<servo name="FL_1" no="0" min="1000" neutral="1100" max="1900"/>
<servo name="FR_2" no="1" min="1000" neutral="1100" max="1900"/>
<servo name="FR_3" no="2" min="1000" neutral="1100" max="1900"/>
<servo name="BR_4" no="3" min="1000" neutral="1100" max="1900"/>
<servo name="BR_5" no="4" min="1000" neutral="1100" max="1900"/>
<servo name="BL_6" no="5" min="1000" neutral="1100" max="1900"/>
<servo name="BL_7" no="6" min="1000" neutral="1100" max="1900"/>
<servo name="FL_8" no="7" min="1000" neutral="1100" max="1900"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="8"/>
<define name="SCALE" value="256"/>
<!-- order (and rotation direction) : FL1(CW), FR2(CCW), FR3(CW), BR4(CCW), BR5(CW), BL6(CCW), BL7(CW), FL8(CCW) -->
<define name="ROLL_COEF" value="{ 106, -106, -256, -256, -106, 106, 256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, 256, 106, -106, -256, -256, -106, 106 }"/>
<define name="YAW_COEF" value="{ -256, 256, -256, 256, -256, 256, -256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256, 256, 256 }"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="FL_1" value="motor_mixing.commands[0]"/>
<set servo="FR_2" value="motor_mixing.commands[1]"/>
<set servo="FR_3" value="motor_mixing.commands[2]"/>
<set servo="BR_4" value="motor_mixing.commands[3]"/>
<set servo="BR_5" value="motor_mixing.commands[4]"/>
<set servo="BL_6" value="motor_mixing.commands[5]"/>
<set servo="BL_7" value="motor_mixing.commands[6]"/>
<set servo="FL_8" value="motor_mixing.commands[7]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="-179"/>
<define name="MAG_Y_NEUTRAL" value="-21"/>
<define name="MAG_Z_NEUTRAL" value="79"/>
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="1000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="300"/>
<define name="THETA_DDGAIN" value="300"/>
<define name="PSI_DDGAIN" value="300"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;fl1_motor&quot;, &quot;fr2_motor&quot;, &quot;fr3_motor&quot;, &quot;br4_motor&quot;, &quot;br5_motor&quot;, &quot;bl6_motor&quot;, &quot;bl7_motor&quot;, &quot;fl8_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;HooperFly/racerpex_octo&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
<define name="ALT_SHIFT_PLUS" value="5"/>
<define name="ALT_SHIFT_MINUS" value="-5"/>
<define name="SPEECH_NAME" value="Racer PEX Octo"/>
<define name="AC_ICON" value="octorotor_x"/>
</section>
</airframe>
conf/airframes/HooperFly/racerpex_quad_lisa_mx_20.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a quadcopter frame in x-configuration equiped with
* Autopilot: Lisa/MX 2.0 with STM32F4 http://wiki.paparazziuav.org/wiki/Lisa/M_v20
* IMU: Integrated Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: two Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->
<airframe name="RacerPEX Quad LisaMX_2.0 pwm">
<firmware name="rotorcraft">
<target name="ap" board="lisa_mx_2.0">
<!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
</subsystem>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.2"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/>
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
</firmware>
<modules>
<load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
</load>
<load name="gps_ubx_ucenter.xml"/>
<load name="geo_mag.xml"/>
<load name="air_data.xml"/>
</modules>
<servos driver="Pwm">
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1900"/>
<servo name="FRONT_RIGHT" no="1" min="1000" neutral="1100" max="1900"/>
<servo name="BACK_RIGHT" no="3" min="1000" neutral="1100" max="1900"/>
<servo name="BACK_LEFT" no="4" min="1000" neutral="1100" max="1900"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<!-- order (and rotation direction) : FL(CW), FR(CCW), BR(CW), BL(CCW) -->
<define name="ROLL_COEF" value="{ 256, -256, -256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, 256, -256, -256 }"/>
<define name="YAW_COEF" value="{ -256, 256, -256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="BACK_RIGHT" value="motor_mixing.commands[2]"/>
<set servo="BACK_LEFT" value="motor_mixing.commands[3]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="-179"/>
<define name="MAG_Y_NEUTRAL" value="-21"/>
<define name="MAG_Z_NEUTRAL" value="79"/>
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="1000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="300"/>
<define name="THETA_DDGAIN" value="300"/>
<define name="PSI_DDGAIN" value="300"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;HooperFly/racerpex_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
<define name="ALT_SHIFT_PLUS" value="5"/>
<define name="ALT_SHIFT_MINUS" value="-5"/>
<define name="SPEECH_NAME" value="Racer PEX Quad"/>
<define name="AC_ICON" value="quadrotor_x"/>
</section>
</airframe>
conf/airframes/HooperFly/teensyfly_hexa_lisa_mx_20.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a hexacopter frame in x-configuration equiped with
* Autopilot: Lisa/MX 2.0 with STM32F4 http://wiki.paparazziuav.org/wiki/Lisa/M_v20
* IMU: Integrated Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: two Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->
<airframe name="TeensyFly Hexa LisaMX_2.0 pwm">
<firmware name="rotorcraft">
<target name="ap" board="lisa_mx_2.0">
<!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
</subsystem>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.2"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/>
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
</firmware>
<modules>
<load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
</load>
<load name="gps_ubx_ucenter.xml"/>
<load name="geo_mag.xml"/>
<load name="air_data.xml"/>
</modules>
<servos driver="Pwm">
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1900"/>
<servo name="FRONT_RIGHT" no="1" min="1000" neutral="1100" max="1900"/>
<servo name="RIGHT" no="2" min="1000" neutral="1100" max="1900"/>
<servo name="BACK_RIGHT" no="3" min="1000" neutral="1100" max="1900"/>
<servo name="BACK_LEFT" no="4" min="1000" neutral="1100" max="1900"/>
<servo name="LEFT" no="5" min="1000" neutral="1100" max="1900"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="6"/>
<define name="SCALE" value="256"/>
<!-- order (and rotation direction) : FL(CW), FR(CCW), R(CW), BR(CCW), BL(CW), L(CCW) -->
<define name="ROLL_COEF" value="{ 128, -128, -256, -128, 128, 256 }"/>
<define name="PITCH_COEF" value="{ 256, 256, 0, -256, -256, 0 }"/>
<define name="YAW_COEF" value="{ -256, 256, -256, 256, -256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256, 256, 256 }"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
<set servo="BACK_RIGHT" value="motor_mixing.commands[3]"/>
<set servo="BACK_LEFT" value="motor_mixing.commands[4]"/>
<set servo="LEFT" value="motor_mixing.commands[5]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="-179"/>
<define name="MAG_Y_NEUTRAL" value="-21"/>
<define name="MAG_Z_NEUTRAL" value="79"/>
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="1000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="300"/>
<define name="THETA_DDGAIN" value="300"/>
<define name="PSI_DDGAIN" value="300"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;fl_motor&quot;, &quot;fr_motor&quot;, &quot;r_motor&quot;, &quot;br_motor&quot;, &quot;bl_motor&quot;, &quot;l_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;HooperFly/teensyfly_hexa&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
<define name="ALT_SHIFT_PLUS" value="5"/>
<define name="ALT_SHIFT_MINUS" value="-5"/>
<define name="SPEECH_NAME" value="Teensy Fly Hexa"/>
<define name="AC_ICON" value="hexarotor_x"/>
</section>
</airframe>
conf/airframes/HooperFly/teensyfly_quad_lisa_mx_20.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a quadcopter frame in x-configuration equiped with
* Autopilot: Lisa/MX 2.0 with STM32F4 http://wiki.paparazziuav.org/wiki/Lisa/M_v20
* IMU: Integrated Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: two Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->
<airframe name="TeensyFly Quad LisaMX_2.0 pwm">
<firmware name="rotorcraft">
<target name="ap" board="lisa_mx_2.0">
<!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
</target>
<subsystem name="radio_control" type="spektrum">
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
</subsystem>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
</subsystem>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="aspirin_v2.2"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<subsystem name="ins" type="hff"/>
<!--define name="KILL_ON_GROUND_DETECT" value="TRUE"/-->
</firmware>
<modules>
<load name="adc_generic.xml">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_1"/>
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_2"/>
</load>
<load name="gps_ubx_ucenter.xml"/>
<load name="geo_mag.xml"/>
<load name="air_data.xml"/>
</modules>
<servos driver="Pwm">
<servo name="FRONT_LEFT" no="0" min="1000" neutral="1100" max="1900"/>
<servo name="FRONT_RIGHT" no="1" min="1000" neutral="1100" max="1900"/>
<servo name="BACK_RIGHT" no="3" min="1000" neutral="1100" max="1900"/>
<servo name="BACK_LEFT" no="4" min="1000" neutral="1100" max="1900"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<!-- order (and rotation direction) : FL(CW), FR(CCW), BR(CW), BL(CCW) -->
<define name="ROLL_COEF" value="{ 256, -256, -256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, 256, -256, -256 }"/>
<define name="YAW_COEF" value="{ -256, 256, -256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="FRONT_LEFT" value="motor_mixing.commands[0]"/>
<set servo="FRONT_RIGHT" value="motor_mixing.commands[1]"/>
<set servo="BACK_RIGHT" value="motor_mixing.commands[2]"/>
<set servo="BACK_LEFT" value="motor_mixing.commands[3]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="-179"/>
<define name="MAG_Y_NEUTRAL" value="-21"/>
<define name="MAG_Z_NEUTRAL" value="79"/>
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<!-- setpoints -->
<define name="SP_MAX_P" value="10000"/>
<define name="SP_MAX_Q" value="10000"/>
<define name="SP_MAX_R" value="10000"/>
<define name="DEADBAND_P" value="20"/>
<define name="DEADBAND_Q" value="20"/>
<define name="DEADBAND_R" value="200"/>
<define name="REF_TAU" value="4"/>
<!-- feedback -->
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="350"/>
<define name="IGAIN_P" value="75"/>
<define name="IGAIN_Q" value="75"/>
<define name="IGAIN_R" value="50"/>
<!-- feedforward -->
<define name="DDGAIN_P" value="300"/>
<define name="DDGAIN_Q" value="300"/>
<define name="DDGAIN_R" value="300"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_A" value="0"/>
<define name="DEADBAND_E" value="0"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="1000"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="1000"/>
<define name="THETA_DGAIN" value="400"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="300"/>
<define name="THETA_DDGAIN" value="300"/>
<define name="PSI_DDGAIN" value="300"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;nw_motor&quot;, &quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;}"/>
<define name="JSBSIM_MODEL" value="&quot;HooperFly/teensyfly_quad&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="30"/>
<define name="ALT_SHIFT_PLUS" value="5"/>
<define name="ALT_SHIFT_MINUS" value="-5"/>
<define name="SPEECH_NAME" value="Teensy Fly Quad"/>
<define name="AC_ICON" value="quadrotor_x"/>
</section>
</airframe>
conf/simulator/jsbsim/aircraft/HooperFly/racerpex_hexa.xml
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conf/simulator/jsbsim/aircraft/HooperFly/racerpex_octo.xml
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conf/simulator/jsbsim/aircraft/HooperFly/racerpex_quad.xml
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<?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>HooperFly</author>
<filecreationdate>27-01-2014</filecreationdate>
<version>Version 0.1 - beta</version>
<description>HooperFly RacerPEX Quad, X configuration without rotor dynamic (NW/SE turning CW, NE/SW CCW)</description>
</fileheader>
<metrics>
<wingarea unit="IN2"> 78.53 </wingarea>
<wingspan unit="IN"> 10 </wingspan>
<chord unit="IN"> 8.35 </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/nw_motor</property>
<property>fcs/ne_motor</property>
<property>fcs/se_motor</property>
<property>fcs/sw_motor</property>
<!-- First the lift forces produced by each propeller -->
<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>-6.25</x>
<y>-6.25</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<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>-6.25</x>
<y>6.25</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>6.25</x>
<y>6.25</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>6.25</x>
<y>-6.25</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<!-- Then the Moment Couples -->
<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>-6.25</x>
<y>-4.2815</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>-6.25</x>
<y>-8.2185</y>
<z>0</z>
</location>
<direction>
<x>-1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<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>-6.25</x>
<y>8.2185</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>-6.25</x>
<y>4.2815</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>6.25</x>
<y>8.2185</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>6.25</x>
<y>4.2815</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>6.25</x>
<y>-4.2815</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>6.25</x>
<y>-8.2185</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>
conf/simulator/jsbsim/aircraft/HooperFly/teensyfly_hexa.xml
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conf/simulator/jsbsim/aircraft/HooperFly/teensyfly_quad.xml
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<?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>HooperFly</author>
<filecreationdate>27-01-2014</filecreationdate>
<version>Version 0.1 - beta</version>
<description>HooperFly TeensyFly Quad 235mm(9.25in) diamater, X configuration without rotor dynamic (NW/SE turning CW, NE/SW CCW)</description>
</fileheader>
<metrics>
<wingarea unit="IN2"> 78.53 </wingarea>
<wingspan unit="IN"> 10 </wingspan>
<chord unit="IN"> 4.63 </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/nw_motor</property>
<property>fcs/ne_motor</property>
<property>fcs/se_motor</property>
<property>fcs/sw_motor</property>
<!-- First the lift forces produced by each propeller -->
<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>-3.27</x>
<y>-3.27</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<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>-3.27</x>
<y>3.27</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>3.27</x>
<y>3.27</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>3.27</x>
<y>-3.27</y>
<z>0</z>
</location>
<direction>
<x>0</x>
<y>0</y>
<z>-1</z>
</direction>
</force>
<!-- Then the Moment Couples -->
<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>-3.27</x>
<y>-1.3015</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>-3.27</x>
<y>-5.2385</y>
<z>0</z>
</location>
<direction>
<x>-1</x>
<y>0</y>
<z>0</z>
</direction>
</force>
<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>-3.27</x>
<y>5.2385</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>-3.27</x>
<y>1.3015</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>3.27</x>
<y>5.2385</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>3.27</x>
<y>1.3015</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>3.27</x>
<y>-1.3015</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>3.27</x>
<y>-5.2385</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>