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GitHub Repository: Ardupilot/ardupilot
Path: blob/master/Tools/autotest/aircraft/Rascal/Rascal.xml
Views: 2020
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<?xml version="1.0"?>
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<?xml-stylesheet href="http://jsbsim.sourceforge.net/JSBSim.xsl" type="text/xsl"?>
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<fdm_config name="rascal" version="2.0" release="BETA"
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xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
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<fileheader>
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<author> Author Name </author>
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<filecreationdate> Creation Date </filecreationdate>
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<version> Version </version>
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<description> Models a rascal </description>
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</fileheader>
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<metrics>
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<wingarea unit="FT2"> 10.57 </wingarea>
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<wingspan unit="FT"> 9.17 </wingspan>
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<chord unit="FT"> 1.15 </chord>
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<htailarea unit="FT2"> 1.69 </htailarea>
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<htailarm unit="FT"> 3.28 </htailarm>
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<vtailarea unit="FT2"> 1.06 </vtailarea>
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<vtailarm unit="FT"> 0 </vtailarm>
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<location name="AERORP" unit="IN">
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<x> 37.4 </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> 20 </x>
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<y> 0 </y>
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<z> 5 </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"> 1.95 </ixx>
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<iyy unit="SLUG*FT2"> 1.55 </iyy>
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<izz unit="SLUG*FT2"> 1.91 </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"> 13 </emptywt>
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<location name="CG" unit="IN">
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<x> 36.4 </x>
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<y> 0 </y>
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<z> 4 </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="LEFT_MLG">
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<location unit="IN">
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<x> 33.1 </x>
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<y> -12.9 </y>
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<z> -13.1 </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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<rolling_friction> 0.1 </rolling_friction>
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<spring_coeff unit="LBS/FT"> 480 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 100 </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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<contact type="BOGEY" name="RIGHT_MLG">
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<location unit="IN">
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<x> 33.1 </x>
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<y> 12.9 </y>
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<z> -13.1 </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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<rolling_friction> 0.1 </rolling_friction>
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<spring_coeff unit="LBS/FT"> 480 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 100 </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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<contact type="BOGEY" name="TAIL_LG">
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<location unit="IN">
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<x> 68.9 </x>
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<y> 0 </y>
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<z> -4 </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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<rolling_friction> 0.1 </rolling_friction>
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<spring_coeff unit="LBS/FT"> 480 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 100 </damping_coeff>
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<max_steer unit="DEG"> 360.0 </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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<propulsion>
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<engine file="Zenoah_G-26A">
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<location unit="IN">
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<x> 36 </x>
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<y> 0 </y>
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<z> 0 </z>
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</location>
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<orient unit="DEG">
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<roll> 0.0 </roll>
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<pitch> 0 </pitch>
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<yaw> 0 </yaw>
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</orient>
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<feed>0</feed>
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<thruster file="18x8">
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<location unit="IN">
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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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</location>
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<orient unit="DEG">
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<roll> 0.0 </roll>
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<pitch> 0.0 </pitch>
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<yaw> 0.0 </yaw>
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</orient>
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<p_factor>1.0</p_factor>
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</thruster>
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</engine>
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<tank type="FUEL"> <!-- Tank number 0 -->
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<location unit="IN">
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<x> 36.36 </x>
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<y> 0 </y>
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<z> -1.89375 </z>
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</location>
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<capacity unit="LBS"> 1.5 </capacity>
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<contents unit="LBS"> 1.5 </contents>
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</tank>
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</propulsion>
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<flight_control name="FCS: rascal">
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<channel name="All">
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<summer name="Pitch Trim Sum">
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<input>fcs/elevator-cmd-norm</input>
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<input>fcs/pitch-trim-cmd-norm</input>
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<clipto>
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<min>-1</min>
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<max>1</max>
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</clipto>
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</summer>
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<aerosurface_scale name="Elevator Control">
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<input>fcs/pitch-trim-sum</input>
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<range>
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<min>-0.35</min>
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<max>0.3</max>
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</range>
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<output>fcs/elevator-pos-rad</output>
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</aerosurface_scale>
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<aerosurface_scale name="Elevator Normalized">
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<input>fcs/elevator-pos-rad</input>
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<domain>
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<min>-0.3</min>
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<max> 0.3</max>
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</domain>
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<range>
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<min>-1</min>
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<max> 1</max>
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</range>
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<output>fcs/elevator-pos-norm</output>
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</aerosurface_scale>
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<summer name="Roll Trim Sum">
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<input>fcs/aileron-cmd-norm</input>
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<input>fcs/roll-trim-cmd-norm</input>
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<clipto>
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<min>-1</min>
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<max>1</max>
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</clipto>
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</summer>
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<aerosurface_scale name="Left Aileron Control">
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<input>fcs/roll-trim-sum</input>
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<range>
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<min>-0.35</min>
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<max>0.35</max>
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</range>
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<output>fcs/left-aileron-pos-rad</output>
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</aerosurface_scale>
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<aerosurface_scale name="Right Aileron Control">
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<input>-fcs/roll-trim-sum</input>
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<range>
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<min>-0.35</min>
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<max>0.35</max>
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</range>
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<output>fcs/right-aileron-pos-rad</output>
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</aerosurface_scale>
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<aerosurface_scale name="Left aileron Normalized">
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<input>fcs/left-aileron-pos-rad</input>
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<domain>
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<min>-0.35</min>
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<max> 0.35</max>
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</domain>
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<range>
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<min>-1</min>
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<max> 1</max>
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</range>
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<output>fcs/left-aileron-pos-norm</output>
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</aerosurface_scale>
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<aerosurface_scale name="Right aileron Normalized">
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<input>fcs/right-aileron-pos-rad</input>
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<domain>
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<min>-0.35</min>
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<max> 0.35</max>
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</domain>
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<range>
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<min>-1</min>
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<max> 1</max>
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</range>
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<output>fcs/right-aileron-pos-norm</output>
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</aerosurface_scale>
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<summer name="Rudder Command Sum">
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<input>fcs/rudder-cmd-norm</input>
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<input>fcs/yaw-trim-cmd-norm</input>
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<clipto>
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<min>-1</min>
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<max>1</max>
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</clipto>
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</summer>
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<aerosurface_scale name="Rudder Control">
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<input>fcs/rudder-command-sum</input>
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<range>
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<min>-0.35</min>
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<max>0.35</max>
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</range>
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<output>fcs/rudder-pos-rad</output>
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</aerosurface_scale>
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<aerosurface_scale name="Rudder Normalized">
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<input>fcs/rudder-pos-rad</input>
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<domain>
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<min>-0.35</min>
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<max> 0.35</max>
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</domain>
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<range>
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<min>-1</min>
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<max> 1</max>
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</range>
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<output>fcs/rudder-pos-norm</output>
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</aerosurface_scale>
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</channel>
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</flight_control>
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<aerodynamics>
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<axis name="DRAG">
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<function name="aero/coefficient/CD0">
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<description>Drag_at_zero_lift</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<table>
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<independentVar>aero/alpha-rad</independentVar>
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<tableData>
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-1.5700 1.5000
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-0.2600 0.0560
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0.0000 0.0280
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0.2600 0.0560
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1.5700 1.5000
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</tableData>
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</table>
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</product>
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</function>
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<function name="aero/coefficient/CDi">
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<description>Induced_drag</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>aero/cl-squared</property>
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<value>0.0400</value>
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</product>
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</function>
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<function name="aero/coefficient/CDbeta">
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<description>Drag_due_to_sideslip</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<table>
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<independentVar>aero/beta-rad</independentVar>
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<tableData>
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-1.5700 1.2300
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-0.2600 0.0500
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0.0000 0.0000
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0.2600 0.0500
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1.5700 1.2300
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</tableData>
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</table>
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</product>
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</function>
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<function name="aero/coefficient/CDde">
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<description>Drag_due_to_Elevator_Deflection</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>fcs/elevator-pos-norm</property>
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<value>0.0300</value>
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</product>
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</function>
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</axis>
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<axis name="SIDE">
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<function name="aero/coefficient/CYb">
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<description>Side_force_due_to_beta</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>aero/beta-rad</property>
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<value>-1.0000</value>
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</product>
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</function>
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</axis>
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<axis name="LIFT">
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<function name="aero/coefficient/CLalpha">
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<description>Lift_due_to_alpha</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<table>
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<independentVar>aero/alpha-rad</independentVar>
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<tableData>
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-0.2000 -0.7500
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0.0000 0.2500
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0.2300 1.4000
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0.6000 0.7100
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</tableData>
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</table>
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</product>
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</function>
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<function name="aero/coefficient/CLde">
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<description>Lift_due_to_Elevator_Deflection</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>fcs/elevator-pos-rad</property>
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<value>0.2000</value>
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</product>
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</function>
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</axis>
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<axis name="ROLL">
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<function name="aero/coefficient/Clb">
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<description>Roll_moment_due_to_beta</description>
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<!-- aka dihedral effect -->
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<property>aero/beta-rad</property>
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<value>-0.1000</value>
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</product>
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</function>
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<function name="aero/coefficient/Clp">
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<description>Roll_moment_due_to_roll_rate</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<property>aero/bi2vel</property>
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<property>velocities/p-aero-rad_sec</property>
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<value>-0.4000</value>
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</product>
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</function>
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<function name="aero/coefficient/Clr">
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<description>Roll_moment_due_to_yaw_rate</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<property>aero/bi2vel</property>
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<property>velocities/r-aero-rad_sec</property>
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<value>0.1500</value>
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</product>
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</function>
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<function name="aero/coefficient/Clda">
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<description>Roll_moment_due_to_aileron</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<property>fcs/left-aileron-pos-rad</property>
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<table>
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<independentVar>velocities/mach</independentVar>
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<tableData>
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0.0000 0.1300
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2.0000 0.0570
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</tableData>
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</table>
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</product>
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</function>
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<function name="aero/coefficient/Cldr">
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<description>Roll_moment_due_to_rudder</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<property>fcs/rudder-pos-rad</property>
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<value>0.0100</value>
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</product>
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</function>
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</axis>
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<axis name="PITCH">
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<function name="aero/coefficient/Cmalpha">
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<description>Pitch_moment_due_to_alpha</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/cbarw-ft</property>
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<property>aero/alpha-rad</property>
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<value>-0.5000</value>
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</product>
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</function>
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<function name="aero/coefficient/Cmde">
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<description>Pitch_moment_due_to_elevator</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/cbarw-ft</property>
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<property>fcs/elevator-pos-rad</property>
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<table>
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<independentVar>velocities/mach</independentVar>
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<tableData>
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0.0000 -0.5000 <!-- was -1.1 -->
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2.0000 -0.2750
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</tableData>
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</table>
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</product>
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</function>
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<function name="aero/coefficient/Cmq">
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<description>Pitch_moment_due_to_pitch_rate</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/cbarw-ft</property>
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<property>aero/ci2vel</property>
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<property>velocities/q-aero-rad_sec</property>
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<value>-12.0000</value>
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</product>
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</function>
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<function name="aero/coefficient/Cmadot">
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<description>Pitch_moment_due_to_alpha_rate</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/cbarw-ft</property>
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<property>aero/ci2vel</property>
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<property>aero/alphadot-rad_sec</property>
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<value>-7.0000</value>
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</product>
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</function>
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</axis>
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<axis name="YAW">
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<function name="aero/coefficient/Cnb">
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<description>Yaw_moment_due_to_beta</description>
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<product>
473
<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<property>aero/beta-rad</property>
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<value>0.1200</value>
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</product>
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</function>
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<function name="aero/coefficient/Cnr">
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<description>Yaw_moment_due_to_yaw_rate</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<property>aero/bi2vel</property>
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<property>velocities/r-aero-rad_sec</property>
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<value>-0.1500</value>
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</product>
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</function>
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<function name="aero/coefficient/Cndr">
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<description>Yaw_moment_due_to_rudder</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<property>fcs/rudder-pos-rad</property>
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<value>-0.0500</value>
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</product>
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</function>
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<function name="aero/coefficient/Cnda">
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<description>Adverse_yaw</description>
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<product>
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<property>aero/qbar-psf</property>
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<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<property>fcs/left-aileron-pos-rad</property>
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<value>-0.0300</value>
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</product>
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</function>
511
<function name="aero/coefficient/Cndi">
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<description>Yaw_moment_due_to_tail_incidence</description>
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<product>
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<property>aero/qbar-psf</property>
515
<property>metrics/Sw-sqft</property>
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<property>metrics/bw-ft</property>
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<value>0.0007</value>
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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="RascalOutputFile.csv" type="CSV" rate="10">
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<rates> ON </rates>
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<velocities> ON </velocities>
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<position> ON </position>
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<fcs> ON </fcs>
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<propulsion> ON </propulsion>
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</output> -->
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<input port="5505"/>
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</fdm_config>
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