mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-08 10:33:55 +08:00
This commit is contained in:
Gustavo Oliveira Violato
@@ -0,0 +1,353 @@
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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> Gustavo Violato </author>
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<filecreationdate> 24-02-2009 </filecreationdate>
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<version> Version 1.0 </version>
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<description> Test file </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="LBS"> 0.84 </emptywt>
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<location name="CG" 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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</mass_balance>
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<ground_reactions>
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<contact type="BOGEY" name="CONTACT">
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<location 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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<static_friction> 0 </static_friction>
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<dynamic_friction> 0 </dynamic_friction>
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<rolling_friction> 0 </rolling_friction>
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<spring_coeff unit="LBS/FT"> 10000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 200000 </damping_coeff>
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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/front_motor</property>
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<property>fcs/back_motor</property>
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<property>fcs/right_motor</property>
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<property>fcs/left_motor</property>
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<!-- First the lift forces produced by each propeller -->
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<force name="front_motor" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/front_motor</property>
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<value> 0.84 </value>
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</product>
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</function>
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<location unit="IN">
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<x>-6.89</x>
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<y>0</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="back_motor" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/back_motor</property>
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<value> 0.84 </value>
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</product>
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</function>
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<location unit="IN">
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<x>6.89</x>
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<y>0</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="right_motor" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/right_motor</property>
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<value> 0.84 </value>
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</product>
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</function>
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<location unit="IN">
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<x>0</x>
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<y>6.89</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="left_motor" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/left_motor</property>
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<value> 0.84 </value>
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</product>
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</function>
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<location unit="IN">
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<x>0</x>
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<y>-6.89</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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<!-- Front Engine -->
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<force name="front_couple1" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/front_motor</property>
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<value> 0.84 </value>
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</product>
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</function>
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<location unit="IN">
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<x>-6.89</x>
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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.
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front and back motors turning clockwise, left and right motors
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turning anti-clockwise when view from up-->
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<y>1.9685</y>
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<z>0</z>
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</location>
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<direction>
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<x>-1</x>
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<y>0</y>
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<z>0</z>
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</direction>
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</force>
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<force name="front_couple2" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/front_motor</property>
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<value> 0.84 </value>
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</product>
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</function>
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<location unit="IN">
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<x>-6.89</x>
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<y>-1.9685</y>
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<z>0</z>
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</location>
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<direction>
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<x>1</x>
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<y>0</y>
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<z>0</z>
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</direction>
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</force>
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<!-- Back Engine -->
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<force name="back_couple1" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/back_motor</property>
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<value> 0.84 </value>
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</product>
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</function>
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<location unit="IN">
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<x>6.89</x>
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<y>1.9685</y>
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<z>0</z>
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</location>
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<direction>
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<x>-1</x>
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<y>0</y>
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<z>0</z>
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</direction>
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</force>
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<force name="back_couple2" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/back_motor</property>
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<value> 0.84 </value>
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</product>
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</function>
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<location unit="IN">
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<x>6.89</x>
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<y>-1.9685</y>
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<z>0</z>
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</location>
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<direction>
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<x>1</x>
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<y>0</y>
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<z>0</z>
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</direction>
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</force>
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<!-- Right Engine -->
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<force name="right_couple1" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/right_motor</property>
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<value> 0.84 </value>
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</product>
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</function>
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<location unit="IN">
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<x>-1.9685</x>
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<y>6.89</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>-1</y>
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<z>0</z>
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</direction>
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</force>
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<force name="right_couple2" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/right_motor</property>
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<value> 0.84 </value>
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</product>
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</function>
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<location unit="IN">
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<x>1.9685</x>
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<y>6.89</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>1</y>
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<z>0</z>
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</direction>
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</force>
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<!-- Left Engine -->
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<force name="left_couple1" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/left_motor</property>
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<value> 0.84 </value>
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</product>
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</function>
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<location unit="IN">
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<x>-1.9685</x>
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<y>-6.89</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>-1</y>
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<z>0</z>
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</direction>
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</force>
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<force name="left_couple2" frame="BODY" unit="LBS">
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<function>
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<product>
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<property>fcs/left_motor</property>
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<value> 0.84 </value>
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</product>
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</function>
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<location unit="IN">
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<x>1.9685</x>
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<y>-6.89</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>1</y>
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<z>0</z>
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</direction>
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</force>
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</external_reactions>
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<propulsion/>
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<flight_control name="FGFCS"/>
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<aerodynamics>
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<axis name="DRAG">
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<function name="aero/coefficient/CD">
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<description>Drag</description>
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<product>
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<property>aero/qbar-psf</property>
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<value>47.9</value> <!-- Conversion to pascals -->
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<value>0.0151</value> <!-- CD x Area (m^2) -->
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<value>0.224808943</value> <!-- N to LBS -->
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</product>
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</function>
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</axis>
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</aerodynamics>
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<output name="test.csv" type="CSV" rate="10">
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<property> fcs/front_motor </property>
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<property> fcs/back_motor </property>
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<property> fcs/right_motor </property>
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<property> fcs/left_motor </property>
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<rates> ON </rates>
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<velocities> ON </velocities>
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<forces> ON </forces>
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<moments> ON </moments>
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<position> ON </position>
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</output>
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</fdm_config>
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@@ -0,0 +1,16 @@
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<?xml version="1.0"?>
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<initialize name="reset00">
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<!-- This file sets up the quadrotor.-->
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<ubody unit="FT/SEC"> 0.0 </ubody>
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<vbody unit="FT/SEC"> 0.0 </vbody>
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<wbody unit="FT/SEC"> 0.0 </wbody>
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<latitude unit="DEG"> 0.0 </latitude>
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<longitude unit="DEG"> 0.0 </longitude>
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<phi unit="DEG"> 0.0 </phi>
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<theta unit="DEG"> 0.0 </theta>
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<psi unit="DEG"> 0.0 </psi>
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<altitude unit="FT"> 20.0 </altitude>
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<winddir unit="DEG"> 0.0 </winddir>
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<vwind unit="FT/SEC"> 0.0 </vwind>
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</initialize>
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@@ -21,22 +21,22 @@
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# $(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
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JSBSIM = /home/violato/enac/programs/install_jsbsim
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CFLAGS = -Wall \
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-I .. \
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-I ../../../var/BOOZ \
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-I ../../../var/BOOZ2_A1 \
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-I ../../airborne \
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-I ../../include \
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-I /usr/include/meschach \
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-I $(JSBSIM)/include/JSBSim \
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`pkg-config glib-2.0 --cflags` \
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LDFLAGS = -lm \
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-lmeschach \
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-lpcre \
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-lglibivy \
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-L $(JSBSIM)/lib -lJSBSim \
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`pkg-config glib-2.0 --libs` \
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SIMDIR = ..
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@@ -45,12 +45,12 @@ SIMDIR = ..
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#
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#
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TEST_FDM_SRCS = test_fdm.c \
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$(SIMDIR)/booz_flight_model.c \
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$(SIMDIR)/booz_flight_model_utils.c
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TEST_FDM_SRCS = nps_test_fdm.c \
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$(SIMDIR)/nps_fdm_jsbsim.c \
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test_fdm : $(TEST_FDM_SRCS)
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gcc $(CFLAGS) -o $@ $^ $(LDFLAGS)
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nps_test_fdm : $(TEST_FDM_SRCS)
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g++ $(CFLAGS) -o $@ $^ $(LDFLAGS)
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#
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Reference in New Issue
Block a user