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[paparazzi-commits] [6388] fix CRLF in campaign2010 branch
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [6388] fix CRLF in campaign2010 branch |
|
Date: |
Wed, 10 Nov 2010 14:30:51 +0000 |
Revision: 6388
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6388
Author: flixr
Date: 2010-11-10 14:30:51 +0000 (Wed, 10 Nov 2010)
Log Message:
-----------
fix CRLF in campaign2010 branch
Modified Paths:
--------------
paparazzi-software/branches/campaign2010/conf/airframes/TUDelft/Trip50A.xml
paparazzi-software/branches/campaign2010/conf/airframes/TUDelft/Trip50B.xml
paparazzi-software/branches/campaign2010/conf/airframes/TUDelft/holiday50.xml
paparazzi-software/branches/campaign2010/conf/airframes/easystar2.xml
paparazzi-software/branches/campaign2010/conf/radios/aron.xml
paparazzi-software/branches/campaign2010/conf/simulator/Malolo1/Malolo1-set.xml
paparazzi-software/branches/campaign2010/conf/simulator/Malolo1/Malolo1.xml
paparazzi-software/branches/campaign2010/conf/simulator/Malolo1/Models/Malolo1.ac
paparazzi-software/branches/campaign2010/conf/simulator/Malolo1/Models/Malolo1.xml
paparazzi-software/branches/campaign2010/sw/airborne/arm7/efsl/conf/config.h
paparazzi-software/branches/campaign2010/sw/airborne/arm7/efsl/inc/interfaces/LPC2000_regs.h
paparazzi-software/branches/campaign2010/sw/airborne/arm7/efsl/inc/interfaces/sd.h
paparazzi-software/branches/campaign2010/sw/airborne/arm7/efsl/src/interfaces/sd.c
paparazzi-software/branches/campaign2010/sw/in_progress/videolizer/wis-go7007-linux/firmware/ezusb/hpi_PX-TV402U.hex
paparazzi-software/branches/campaign2010/sw/in_progress/videolizer/wis-go7007-linux/firmware/ezusb/hpi_StarTrek.hex
Modified:
paparazzi-software/branches/campaign2010/conf/airframes/TUDelft/Trip50A.xml
===================================================================
--- paparazzi-software/branches/campaign2010/conf/airframes/TUDelft/Trip50A.xml
2010-11-10 14:25:16 UTC (rev 6387)
+++ paparazzi-software/branches/campaign2010/conf/airframes/TUDelft/Trip50A.xml
2010-11-10 14:30:51 UTC (rev 6388)
@@ -125,29 +125,29 @@
</section>
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
- <define name="POWER_CTL_BAT_NOMINAL" value="7.6" unit="volt"/>
+ <section name="VERTICAL CONTROL" prefix="V_CTL_">
+ <define name="POWER_CTL_BAT_NOMINAL" value="7.6" unit="volt"/>
- <!-- Vertical Outerloop
- v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error +
altitude_pre_climb;
- BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
- -->
+ <!-- Vertical Outerloop
+ v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error +
altitude_pre_climb;
+ BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
+ -->
<!-- outer loop proportional gain: alt error 5 climb m/s -->
<define name="ALTITUDE_PGAIN" value="-0.0750000029802"/>
<!-- outer loop saturation: m/s-->
<define name="ALTITUDE_MAX_CLIMB" value="5.0"/>
- <!-- auto throttle inner loop
- float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
- + v_ctl_auto_throttle_climb_throttle_increment *
v_ctl_climb_setpoint
- + v_ctl_auto_throttle_pgain *
- (err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
- + v_ctl_auto_throttle_dgain * d_err);
-
- /* pitch pre-command */
+ <!-- auto throttle inner loop
+ float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ + v_ctl_auto_throttle_climb_throttle_increment *
v_ctl_climb_setpoint
+ + v_ctl_auto_throttle_pgain *
+ (err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
+ + v_ctl_auto_throttle_dgain * d_err);
+
+ /* pitch pre-command */
float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err *
v_ctl_auto_throttle_pitch_of_vz_dgain)
- * v_ctl_auto_throttle_pitch_of_vz_pgain;
+ * v_ctl_auto_throttle_pitch_of_vz_pgain;
-->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"
value="0.40000000596"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
Modified:
paparazzi-software/branches/campaign2010/conf/airframes/TUDelft/Trip50B.xml
===================================================================
--- paparazzi-software/branches/campaign2010/conf/airframes/TUDelft/Trip50B.xml
2010-11-10 14:25:16 UTC (rev 6387)
+++ paparazzi-software/branches/campaign2010/conf/airframes/TUDelft/Trip50B.xml
2010-11-10 14:30:51 UTC (rev 6388)
@@ -130,29 +130,29 @@
</section>
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
- <define name="POWER_CTL_BAT_NOMINAL" value="7.6" unit="volt"/>
+ <section name="VERTICAL CONTROL" prefix="V_CTL_">
+ <define name="POWER_CTL_BAT_NOMINAL" value="7.6" unit="volt"/>
- <!-- Vertical Outerloop
- v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error +
altitude_pre_climb;
- BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
- -->
+ <!-- Vertical Outerloop
+ v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error +
altitude_pre_climb;
+ BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
+ -->
<!-- outer loop proportional gain: alt error 5 climb m/s -->
<define name="ALTITUDE_PGAIN" value="-0.0750000029802"/>
<!-- outer loop saturation: m/s-->
<define name="ALTITUDE_MAX_CLIMB" value="5.0"/>
- <!-- auto throttle inner loop
- float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
- + v_ctl_auto_throttle_climb_throttle_increment *
v_ctl_climb_setpoint
- + v_ctl_auto_throttle_pgain *
- (err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
- + v_ctl_auto_throttle_dgain * d_err);
-
- /* pitch pre-command */
+ <!-- auto throttle inner loop
+ float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ + v_ctl_auto_throttle_climb_throttle_increment *
v_ctl_climb_setpoint
+ + v_ctl_auto_throttle_pgain *
+ (err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
+ + v_ctl_auto_throttle_dgain * d_err);
+
+ /* pitch pre-command */
float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err *
v_ctl_auto_throttle_pitch_of_vz_dgain)
- * v_ctl_auto_throttle_pitch_of_vz_pgain;
+ * v_ctl_auto_throttle_pitch_of_vz_pgain;
-->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"
value="0.40000000596"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
Modified:
paparazzi-software/branches/campaign2010/conf/airframes/TUDelft/holiday50.xml
===================================================================
---
paparazzi-software/branches/campaign2010/conf/airframes/TUDelft/holiday50.xml
2010-11-10 14:25:16 UTC (rev 6387)
+++
paparazzi-software/branches/campaign2010/conf/airframes/TUDelft/holiday50.xml
2010-11-10 14:30:51 UTC (rev 6388)
@@ -124,29 +124,29 @@
<!-- <define name="POWER_SWITCH_LED" value="2"/> -->
</section>
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
- <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+ <section name="VERTICAL CONTROL" prefix="V_CTL_">
+ <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
- <!-- Vertical Outerloop
- v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error +
altitude_pre_climb;
- BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
- -->
+ <!-- Vertical Outerloop
+ v_ctl_climb_setpoint = ALTITUDE_PGAIN * altitude_error +
altitude_pre_climb;
+ BoundAbs(v_ctl_climb_setpoint, V_CTL_ALTITUDE_MAX_CLIMB);
+ -->
<!-- outer loop proportional gain: alt error 5 climb m/s -->
<define name="ALTITUDE_PGAIN" value="-0.04"/>
<!-- outer loop saturation: m/s-->
<define name="ALTITUDE_MAX_CLIMB" value="5.0"/>
- <!-- auto throttle inner loop
- float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
- + v_ctl_auto_throttle_climb_throttle_increment *
v_ctl_climb_setpoint
- + v_ctl_auto_throttle_pgain *
- (err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
- + v_ctl_auto_throttle_dgain * d_err);
-
- /* pitch pre-command */
+ <!-- auto throttle inner loop
+ float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
+ + v_ctl_auto_throttle_climb_throttle_increment *
v_ctl_climb_setpoint
+ + v_ctl_auto_throttle_pgain *
+ (err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
+ + v_ctl_auto_throttle_dgain * d_err);
+
+ /* pitch pre-command */
float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err *
v_ctl_auto_throttle_pitch_of_vz_dgain)
- * v_ctl_auto_throttle_pitch_of_vz_pgain;
+ * v_ctl_auto_throttle_pitch_of_vz_pgain;
-->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"
value="0.319999992847"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
Modified: paparazzi-software/branches/campaign2010/conf/airframes/easystar2.xml
===================================================================
--- paparazzi-software/branches/campaign2010/conf/airframes/easystar2.xml
2010-11-10 14:25:16 UTC (rev 6387)
+++ paparazzi-software/branches/campaign2010/conf/airframes/easystar2.xml
2010-11-10 14:30:51 UTC (rev 6388)
@@ -101,20 +101,20 @@
<define name="MIN_CIRCLE_RADIUS" value="60."/>
</section>
- <section name="VERTICAL CONTROL" prefix="V_CTL_">
+ <section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.0" unit="volt"/>
- <!-- outer loop -->
- <define name="ALTITUDE_PGAIN" value="-0.075" unit="(m/s)/m"/>
- <define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
- <!-- auto throttle inner loop -->
- <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
- <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
- <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>
- <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
- <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
- <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1"
unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_PGAIN" value="-0.02" unit="%/(m/s)"/>
- <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
+ <!-- outer loop -->
+ <define name="ALTITUDE_PGAIN" value="-0.075" unit="(m/s)/m"/>
+ <define name="ALTITUDE_MAX_CLIMB" value="4." unit="m/s"/>
+ <!-- auto throttle inner loop -->
+ <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5" unit="%"/>
+ <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.4" unit="%"/>
+ <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.8" unit="%"/>
+ <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500" unit="pprz_t"/>
+ <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000" unit="pprz_t"/>
+ <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1"
unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_PGAIN" value="-0.02" unit="%/(m/s)"/>
+ <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"
unit="rad/(m/s)"/>
<!-- auto airspeed and altitude inner loop -->
<define name="AUTO_AIRSPEED_SETPOINT" value="14.5" unit="m/s"/>
@@ -122,23 +122,23 @@
<define name="AUTO_AIRSPEED_IGAIN" value="0.050"/>
<define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
- <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
- <define name="AUTO_PITCH_PGAIN" value="-0.125"/>
- <define name="AUTO_PITCH_IGAIN" value="0.025"/>
- <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
- <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
- <define name="THROTTLE_SLEW" value="1.0"/>
+ <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
+ <define name="AUTO_PITCH_PGAIN" value="-0.125"/>
+ <define name="AUTO_PITCH_IGAIN" value="0.025"/>
+ <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
+ <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
+ <define name="THROTTLE_SLEW" value="1.0"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
- <define name="COURSE_PGAIN" value="-0.7"/>
- <define name="ROLL_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
- <define name="PITCH_MAX_SETPOINT" value="RadOfDeg(25)" unit="radians"/>
- <define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="radians"/>
- <define name="PITCH_PGAIN" value="-20000."/>
- <define name="PITCH_DGAIN" value="1.5"/>
- <define name="ELEVATOR_OF_ROLL" value="2500"/>
- <define name="ROLL_ATTITUDE_GAIN" value="-7400"/>
+ <define name="COURSE_PGAIN" value="-0.7"/>
+ <define name="ROLL_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
+ <define name="PITCH_MAX_SETPOINT" value="RadOfDeg(25)" unit="radians"/>
+ <define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="radians"/>
+ <define name="PITCH_PGAIN" value="-20000."/>
+ <define name="PITCH_DGAIN" value="1.5"/>
+ <define name="ELEVATOR_OF_ROLL" value="2500"/>
+ <define name="ROLL_ATTITUDE_GAIN" value="-7400"/>
<define name="ROLL_RATE_GAIN" value="-200"/>
</section>
@@ -147,15 +147,15 @@
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
- <section name="AGGRESSIVE" prefix="AGR_">
- <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
- <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
- <define name="CLIMB_THROTTLE" value="0.70"/><!-- Gaz for Aggressive Climb
-->
- <define name="CLIMB_PITCH" value="RadOfDeg(18)"/><!-- Pitch for Aggressive
Climb -->
- <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
Decent -->
- <define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- Pitch for
Aggressive Decent -->
- <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for
Altitude Error Equal to Start Altitude -->
- <define name="DESCENT_NAV_RATIO" value="1.0"/>
+ <section name="AGGRESSIVE" prefix="AGR_">
+ <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate
Aggressive Climb CANNOT BE ZERO!!-->
+ <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend
Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
+ <define name="CLIMB_THROTTLE" value="0.70"/><!-- Gaz for Aggressive Climb
-->
+ <define name="CLIMB_PITCH" value="RadOfDeg(18)"/><!-- Pitch for Aggressive
Climb -->
+ <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive
Decent -->
+ <define name="DESCENT_PITCH" value="RadOfDeg(-20)"/><!-- Pitch for
Aggressive Decent -->
+ <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for
Altitude Error Equal to Start Altitude -->
+ <define name="DESCENT_NAV_RATIO" value="1.0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
@@ -166,9 +166,9 @@
<define name="HOME_RADIUS" value="90" unit="m"/>
</section>
- <section name="DATALINK" prefix="DATALINK_">
- <define name="DEVICE_TYPE" value="PPRZ"/>
- <define name="DEVICE_ADDRESS" value="...."/>
+ <section name="DATALINK" prefix="DATALINK_">
+ <define name="DEVICE_TYPE" value="PPRZ"/>
+ <define name="DEVICE_ADDRESS" value="...."/>
</section>
<makefile>
@@ -214,7 +214,7 @@
ap.CFLAGS += -DNAV -DLOITER_TRIM
ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
-ap.srcs += nav_line.c
+ap.srcs += nav_line.c
ap.srcs += nav_survey_rectangle.c
# Camera control
Modified: paparazzi-software/branches/campaign2010/conf/radios/aron.xml
===================================================================
--- paparazzi-software/branches/campaign2010/conf/radios/aron.xml
2010-11-10 14:25:16 UTC (rev 6387)
+++ paparazzi-software/branches/campaign2010/conf/radios/aron.xml
2010-11-10 14:30:51 UTC (rev 6388)
@@ -1,13 +1,13 @@
-
-
-<!DOCTYPE radio SYSTEM "radio.dtd">
-<radio name="T9cap" data_min="900" data_max="2100" sync_min="5000"
sync_max="15000" pulse_type="POSITIVE">
- <channel ctl="switch_E" function="MODE" min="966" neutral="1526"
max="2079" average="10"/>
- <channel ctl="switch_G" function="DISABLE" min="2080" neutral="1525"
max="969" average="10"/>
- <channel ctl="left_stick_horiz" function="YAW" min="1115" neutral="1520"
max="1940" average="0"/>
- <channel ctl="right_stick_vert" function="PITCH" min="1937" neutral="1518"
max="1112" average="0"/>
- <channel ctl="right_stick_horiz" function="ROLL" min="1114" neutral="1525"
max="1939" average="0"/>
- <channel ctl="left_stick_vert" function="THROTTLE" min="1115" neutral="1115"
max="1940" average="0"/>
-
-</radio>
-
+
+
+<!DOCTYPE radio SYSTEM "radio.dtd">
+<radio name="T9cap" data_min="900" data_max="2100" sync_min="5000"
sync_max="15000" pulse_type="POSITIVE">
+ <channel ctl="switch_E" function="MODE" min="966" neutral="1526"
max="2079" average="10"/>
+ <channel ctl="switch_G" function="DISABLE" min="2080" neutral="1525"
max="969" average="10"/>
+ <channel ctl="left_stick_horiz" function="YAW" min="1115" neutral="1520"
max="1940" average="0"/>
+ <channel ctl="right_stick_vert" function="PITCH" min="1937" neutral="1518"
max="1112" average="0"/>
+ <channel ctl="right_stick_horiz" function="ROLL" min="1114" neutral="1525"
max="1939" average="0"/>
+ <channel ctl="left_stick_vert" function="THROTTLE" min="1115" neutral="1115"
max="1940" average="0"/>
+
+</radio>
+
Modified:
paparazzi-software/branches/campaign2010/conf/simulator/Malolo1/Malolo1-set.xml
===================================================================
---
paparazzi-software/branches/campaign2010/conf/simulator/Malolo1/Malolo1-set.xml
2010-11-10 14:25:16 UTC (rev 6387)
+++
paparazzi-software/branches/campaign2010/conf/simulator/Malolo1/Malolo1-set.xml
2010-11-10 14:30:51 UTC (rev 6388)
@@ -1,103 +1,103 @@
-<?xml version="1.0"?>
-<!--
-************************************************************************
-Rascal 110 R/C airplane config. This files ties together all the components
-used by FGFS to represent the Rascal 110 (by Sig Mfg) including the flight
-dynamics model, and external 3D model.
-************************************************************************
--->
-
-<PropertyList>
- <sim>
-
- <description>Malolo1(R/C)</description>
- <author>Innis Cunningham, Josh Wilson</author>
- <aircraft-version>0.0</aircraft-version>
-
- <startup>
- <splash-texture>Aircraft/Malolo1/Malolo1-splash.rgb</splash-texture>
- </startup>
-
- <flight-model>jsb</flight-model>
- <aero>Malolo1</aero>
- <fuel-fraction>0.8</fuel-fraction>
- <!--
- <systems>
- <autopilot>
- <path>Aircraft/Malolo1/Systems/110-autopilot.xml</path>
- </autopilot>
- <electrical>
- <path>Aircraft/Malolo1/Systems/electrical.xml</path>
- </electrical>
- </systems> -->
-
- <sound>
- <path>Aircraft/Generic/generic-sound.xml</path>
- </sound>
-
- <panel>
- <visibility archive="n">false</visibility>
- </panel>
-
- <model>
- <path archive="y">Aircraft/Malolo1/Models/Malolo1.xml</path>
- </model>
-
- <view>
- <internal archive="y">true</internal>
- <config>
- <x-offset-m archive="y">0.0</x-offset-m>
- <y-offset-m archive="y">0.26</y-offset-m>
- <z-offset-m archive="y">0.34</z-offset-m>
- <pitch-offset-deg>-8</pitch-offset-deg>
- </config>
- </view>
-
- <chase-distance-m archive="y" type="double">-15.0</chase-distance-m>
- <help>
- <title>YardStik 110 (Sig Mfg)</title>
- <line>Cruise speed: 60 mph</line>
- <line>Never-exceed (Vne): 85 mph</line>
- <line>Best Glide (Vglide): 20 mph</line>
- <line>Maneuvering (Va): 50 mph</line>
- <line>Approach speed: 15-25 mph</line>
- <line>Stall speed (Vs): 10 mph</line>
- </help>
-
- </sim>
-
- <controls>
- <flight>
- <aileron-trim>-0.01</aileron-trim> <!-- fixed -->
- <elevator-trim>0.00</elevator-trim> <!-- controllable -->
- <rudder-trim>0.00</rudder-trim> <!-- fixed -->
- </flight>
- <engines>
- <engine n="0">
- <magnetos>3</magnetos>
- </engine>
- </engines>
- <door>1.0</door>
- </controls>
-
- <engines>
- <engine>
- <rpm type="double">700</rpm>
- </engine>
- </engines>
-
- <!-- An autopilot on a Cub??? -->
- <autopilot>
- <config>
- <min-climb-speed-kt type="float">48.0</min-climb-speed-kt>
- <best-climb-speed-kt type="float">56.0</best-climb-speed-kt>
- <target-climb-rate-fpm type="float">400.0</target-climb-rate-fpm>
- <target-descent-rate-fpm type="float">1000.0</target-descent-rate-fpm>
- <elevator-adj-factor type="float">6000.0</elevator-adj-factor>
- <integral-contribution type="float">0.008</integral-contribution>
- <zero-pitch-throttle type="float">0.35</zero-pitch-throttle>
- <zero-pitch-trim-full-throttle
type="float">0.001</zero-pitch-trim-full-throttle>
- </config>
- </autopilot>
-
-</PropertyList>
+<?xml version="1.0"?>
+<!--
+************************************************************************
+Rascal 110 R/C airplane config. This files ties together all the components
+used by FGFS to represent the Rascal 110 (by Sig Mfg) including the flight
+dynamics model, and external 3D model.
+************************************************************************
+-->
+
+<PropertyList>
+ <sim>
+
+ <description>Malolo1(R/C)</description>
+ <author>Innis Cunningham, Josh Wilson</author>
+ <aircraft-version>0.0</aircraft-version>
+
+ <startup>
+ <splash-texture>Aircraft/Malolo1/Malolo1-splash.rgb</splash-texture>
+ </startup>
+
+ <flight-model>jsb</flight-model>
+ <aero>Malolo1</aero>
+ <fuel-fraction>0.8</fuel-fraction>
+ <!--
+ <systems>
+ <autopilot>
+ <path>Aircraft/Malolo1/Systems/110-autopilot.xml</path>
+ </autopilot>
+ <electrical>
+ <path>Aircraft/Malolo1/Systems/electrical.xml</path>
+ </electrical>
+ </systems> -->
+
+ <sound>
+ <path>Aircraft/Generic/generic-sound.xml</path>
+ </sound>
+
+ <panel>
+ <visibility archive="n">false</visibility>
+ </panel>
+
+ <model>
+ <path archive="y">Aircraft/Malolo1/Models/Malolo1.xml</path>
+ </model>
+
+ <view>
+ <internal archive="y">true</internal>
+ <config>
+ <x-offset-m archive="y">0.0</x-offset-m>
+ <y-offset-m archive="y">0.26</y-offset-m>
+ <z-offset-m archive="y">0.34</z-offset-m>
+ <pitch-offset-deg>-8</pitch-offset-deg>
+ </config>
+ </view>
+
+ <chase-distance-m archive="y" type="double">-15.0</chase-distance-m>
+ <help>
+ <title>YardStik 110 (Sig Mfg)</title>
+ <line>Cruise speed: 60 mph</line>
+ <line>Never-exceed (Vne): 85 mph</line>
+ <line>Best Glide (Vglide): 20 mph</line>
+ <line>Maneuvering (Va): 50 mph</line>
+ <line>Approach speed: 15-25 mph</line>
+ <line>Stall speed (Vs): 10 mph</line>
+ </help>
+
+ </sim>
+
+ <controls>
+ <flight>
+ <aileron-trim>-0.01</aileron-trim> <!-- fixed -->
+ <elevator-trim>0.00</elevator-trim> <!-- controllable -->
+ <rudder-trim>0.00</rudder-trim> <!-- fixed -->
+ </flight>
+ <engines>
+ <engine n="0">
+ <magnetos>3</magnetos>
+ </engine>
+ </engines>
+ <door>1.0</door>
+ </controls>
+
+ <engines>
+ <engine>
+ <rpm type="double">700</rpm>
+ </engine>
+ </engines>
+
+ <!-- An autopilot on a Cub??? -->
+ <autopilot>
+ <config>
+ <min-climb-speed-kt type="float">48.0</min-climb-speed-kt>
+ <best-climb-speed-kt type="float">56.0</best-climb-speed-kt>
+ <target-climb-rate-fpm type="float">400.0</target-climb-rate-fpm>
+ <target-descent-rate-fpm type="float">1000.0</target-descent-rate-fpm>
+ <elevator-adj-factor type="float">6000.0</elevator-adj-factor>
+ <integral-contribution type="float">0.008</integral-contribution>
+ <zero-pitch-throttle type="float">0.35</zero-pitch-throttle>
+ <zero-pitch-trim-full-throttle
type="float">0.001</zero-pitch-trim-full-throttle>
+ </config>
+ </autopilot>
+
+</PropertyList>
Modified:
paparazzi-software/branches/campaign2010/conf/simulator/Malolo1/Malolo1.xml
===================================================================
--- paparazzi-software/branches/campaign2010/conf/simulator/Malolo1/Malolo1.xml
2010-11-10 14:25:16 UTC (rev 6387)
+++ paparazzi-software/branches/campaign2010/conf/simulator/Malolo1/Malolo1.xml
2010-11-10 14:30:51 UTC (rev 6388)
@@ -1,546 +1,546 @@
-<?xml version="1.0"?>
-<?xml-stylesheet href="http://jsbsim.sourceforge.net/JSBSim.xsl";
type="text/xsl"?>
-<fdm_config name="rascal" version="2.0" release="BETA"
- xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance";
- xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd";>
-
- <fileheader>
- <author> Author Name </author>
- <filecreationdate> Creation Date </filecreationdate>
- <version> Version </version>
- <description> Models a Malolo </description>
- </fileheader>
-
- <metrics>
- <wingarea unit="FT2"> 10.57 </wingarea>
- <wingspan unit="FT"> 9.17 </wingspan>
- <chord unit="FT"> 1.15 </chord>
- <htailarea unit="FT2"> 1.69 </htailarea>
- <htailarm unit="FT"> 3.28 </htailarm>
- <vtailarea unit="FT2"> 1.06 </vtailarea>
- <vtailarm unit="FT"> 0 </vtailarm>
- <location name="AERORP" unit="IN">
- <x> 37.4 </x>
- <y> 0 </y>
- <z> 0 </z>
- </location>
- <location name="EYEPOINT" unit="IN">
- <x> 20 </x>
- <y> 0 </y>
- <z> 5 </z>
- </location>
- <location name="VRP" unit="IN">
- <x> 0 </x>
- <y> 0 </y>
- <z> 0 </z>
- </location>
- </metrics>
-
- <mass_balance>
- <ixx unit="SLUG*FT2"> 1 </ixx>
- <iyy unit="SLUG*FT2"> 1 </iyy>
- <izz unit="SLUG*FT2"> 2 </izz>
- <ixy unit="SLUG*FT2"> 0 </ixy>
- <ixz unit="SLUG*FT2"> 0 </ixz>
- <iyz unit="SLUG*FT2"> 0 </iyz>
- <emptywt unit="LBS"> 12 </emptywt>
- <location name="CG" unit="IN">
- <x> 36.4 </x>
- <y> 0 </y>
- <z> 4 </z>
- </location>
- <pointmass name="payload">
- <weight unit="LBS"> 1 </weight>
- <location name="payload" unit="IN">
- <x> 0 </x>
- <y> 0 </y>
- <z> 0 </z>
- </location>
- </pointmass>
- </mass_balance>
-
- <ground_reactions>
- <contact type="BOGEY" name="LEFT_MLG">
- <location unit="IN">
- <x> 40.1 </x>
- <y> -9.9 </y>
- <z> -10.1 </z>
- </location>
- <static_friction> 0.8 </static_friction>
- <dynamic_friction> 0.5 </dynamic_friction>
- <rolling_friction> 0.02 </rolling_friction>
- <spring_coeff unit="LBS/FT"> 120 </spring_coeff>
- <damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
- <max_steer unit="DEG"> 0.0 </max_steer>
- <brake_group> LEFT </brake_group>
- <retractable>0</retractable>
- </contact>
- <contact type="BOGEY" name="RIGHT_MLG">
- <location unit="IN">
- <x> 40.1 </x>
- <y> 9.9 </y>
- <z> -10.1 </z>
- </location>
- <static_friction> 0.8 </static_friction>
- <dynamic_friction> 0.5 </dynamic_friction>
- <rolling_friction> 0.02 </rolling_friction>
- <spring_coeff unit="LBS/FT"> 120 </spring_coeff>
- <damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
- <max_steer unit="DEG"> 0.0 </max_steer>
- <brake_group> RIGHT </brake_group>
- <retractable>0</retractable>
- </contact>
- <contact type="BOGEY" name="TAIL_LG">
- <location unit="IN">
- <x> 68.9 </x>
- <y> 0 </y>
- <z>-4.3 </z>
- </location>
- <static_friction> 0.8 </static_friction>
- <dynamic_friction> 0.5 </dynamic_friction>
- <rolling_friction> 0.02 </rolling_friction>
- <spring_coeff unit="LBS/FT"> 24 </spring_coeff>
- <damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
- <max_steer unit="DEG"> 360.0 </max_steer>
- <brake_group> NONE </brake_group>
- <retractable>0</retractable>
- </contact>
- <contact type="BOGEY" name="NOSE_LG">
- <location unit="IN">
- <x>10</x>
- <y>0</y>
- <z>-8.3</z>
- </location>
- <static_friction> 0.8 </static_friction>
- <dynamic_friction> 0.5 </dynamic_friction>
- <rolling_friction> 0.02 </rolling_friction>
- <spring_coeff unit="LBS/FT"> 24 </spring_coeff>
- <damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
- <max_steer unit="DEG"> 360.0 </max_steer>
- <brake_group> NONE </brake_group>
- <retractable>0</retractable>
- </contact>
-
- </ground_reactions>
-
- <propulsion>
- <engine file="Zenoah_G-26A">
- <location unit="IN">
- <x> 36 </x>
- <y> 0 </y>
- <z> 0 </z>
- </location>
- <orient unit="DEG">
- <roll> 0.0 </roll>
- <pitch> 0 </pitch>
- <yaw> 0 </yaw>
- </orient>
- <feed>0</feed>
- <thruster file="18x8">
- <location unit="IN">
- <x> 1 </x>
- <y> 0 </y>
- <z> 0 </z>
- </location>
- <orient unit="DEG">
- <roll> 0.0 </roll>
- <pitch> 0.0 </pitch>
- <yaw> 0.0 </yaw>
- </orient>
- <p_factor>1.0</p_factor>
- </thruster>
- </engine>
- <tank type="FUEL"> <!-- Tank number 0 -->
- <location unit="IN">
- <x> 36.36 </x>
- <y> 0 </y>
- <z> -1.89375 </z>
- </location>
- <capacity unit="LBS"> 1.5 </capacity>
- <contents unit="LBS"> 1.5 </contents>
- </tank>
- </propulsion>
-
- <flight_control name="FCS: rascal">
- <channel name="All">
-
- <summer name="Pitch Trim Sum">
- <input>fcs/elevator-cmd-norm</input>
- <input>fcs/pitch-trim-cmd-norm</input>
- <clipto>
- <min>-1</min>
- <max>1</max>
- </clipto>
- </summer>
-
- <aerosurface_scale name="Elevator Control">
- <input>fcs/pitch-trim-sum</input>
- <range>
- <min>-0.35</min>
- <max>0.3</max>
- </range>
- <output>fcs/elevator-pos-rad</output>
- </aerosurface_scale>
-
- <aerosurface_scale name="Elevator Normalized">
- <input>fcs/elevator-pos-rad</input>
- <domain>
- <min>-0.3</min>
- <max> 0.3</max>
- </domain>
- <range>
- <min>-1</min>
- <max> 1</max>
- </range>
- <output>fcs/elevator-pos-norm</output>
- </aerosurface_scale>
-
- <summer name="Roll Trim Sum">
- <input>fcs/aileron-cmd-norm</input>
- <input>fcs/roll-trim-cmd-norm</input>
- <clipto>
- <min>-1</min>
- <max>1</max>
- </clipto>
- </summer>
-
- <aerosurface_scale name="Left Aileron Control">
- <input>fcs/roll-trim-sum</input>
- <range>
- <min>-0.35</min>
- <max>0.35</max>
- </range>
- <output>fcs/left-aileron-pos-rad</output>
- </aerosurface_scale>
-
- <aerosurface_scale name="Right Aileron Control">
- <input>-fcs/roll-trim-sum</input>
- <range>
- <min>-0.35</min>
- <max>0.35</max>
- </range>
- <output>fcs/right-aileron-pos-rad</output>
- </aerosurface_scale>
-
- <aerosurface_scale name="Left aileron Normalized">
- <input>fcs/left-aileron-pos-rad</input>
- <domain>
- <min>-0.35</min>
- <max> 0.35</max>
- </domain>
- <range>
- <min>-1</min>
- <max> 1</max>
- </range>
- <output>fcs/left-aileron-pos-norm</output>
- </aerosurface_scale>
-
- <aerosurface_scale name="Right aileron Normalized">
- <input>fcs/right-aileron-pos-rad</input>
- <domain>
- <min>-0.35</min>
- <max> 0.35</max>
- </domain>
- <range>
- <min>-1</min>
- <max> 1</max>
- </range>
- <output>fcs/right-aileron-pos-norm</output>
- </aerosurface_scale>
-
- <summer name="Rudder Command Sum">
- <input>fcs/rudder-cmd-norm</input>
- <input>fcs/yaw-trim-cmd-norm</input>
- <clipto>
- <min>-1</min>
- <max>1</max>
- </clipto>
- </summer>
-
- <aerosurface_scale name="Rudder Control">
- <input>fcs/rudder-command-sum</input>
- <range>
- <min>-0.35</min>
- <max>0.35</max>
- </range>
- <output>fcs/rudder-pos-rad</output>
- </aerosurface_scale>
-
- <aerosurface_scale name="Rudder Normalized">
- <input>fcs/rudder-pos-rad</input>
- <domain>
- <min>-0.35</min>
- <max> 0.35</max>
- </domain>
- <range>
- <min>-1</min>
- <max> 1</max>
- </range>
- <output>fcs/rudder-pos-norm</output>
- </aerosurface_scale>
- </channel>
- </flight_control>
- <aerodynamics>
-
- <axis name="DRAG">
- <function name="aero/coefficient/CD0">
- <description>Drag_at_zero_lift</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <table>
- <independentVar>aero/alpha-rad</independentVar>
- <tableData>
- -1.5700 1.5000
- -0.2600 0.0560
- 0.0000 0.0280
- 0.2600 0.0560
- 1.5700 1.5000
- </tableData>
- </table>
- </product>
- </function>
- <function name="aero/coefficient/CDi">
- <description>Induced_drag</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>aero/cl-squared</property>
- <value>0.0400</value>
- </product>
- </function>
- <function name="aero/coefficient/CDbeta">
- <description>Drag_due_to_sideslip</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <table>
- <independentVar>aero/beta-rad</independentVar>
- <tableData>
- -1.5700 1.2300
- -0.2600 0.0500
- 0.0000 0.0000
- 0.2600 0.0500
- 1.5700 1.2300
- </tableData>
- </table>
- </product>
- </function>
- <function name="aero/coefficient/CDde">
- <description>Drag_due_to_Elevator_Deflection</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>fcs/elevator-pos-norm</property>
- <value>0.0300</value>
- </product>
- </function>
- </axis>
-
- <axis name="SIDE">
- <function name="aero/coefficient/CYb">
- <description>Side_force_due_to_beta</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>aero/beta-rad</property>
- <value>-1.0000</value>
- </product>
- </function>
- </axis>
-
- <axis name="LIFT">
- <function name="aero/coefficient/CLalpha">
- <description>Lift_due_to_alpha</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <table>
- <independentVar>aero/alpha-rad</independentVar>
- <tableData>
- -0.2000 -0.7500
- 0.0000 0.2500
- 0.2300 1.4000
- 0.6000 0.7100
- </tableData>
- </table>
- </product>
- </function>
- <function name="aero/coefficient/CLde">
- <description>Lift_due_to_Elevator_Deflection</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>fcs/elevator-pos-rad</property>
- <value>0.2000</value>
- </product>
- </function>
- </axis>
-
- <axis name="ROLL">
- <function name="aero/coefficient/Clb">
- <description>Roll_moment_due_to_beta</description>
- <!-- aka dihedral effect -->
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/bw-ft</property>
- <property>aero/beta-rad</property>
- <value>-0.1000</value>
- </product>
- </function>
- <function name="aero/coefficient/Clp">
- <description>Roll_moment_due_to_roll_rate</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/bw-ft</property>
- <property>aero/bi2vel</property>
- <property>velocities/p-aero-rad_sec</property>
- <value>-0.4000</value>
- </product>
- </function>
- <function name="aero/coefficient/Clr">
- <description>Roll_moment_due_to_yaw_rate</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/bw-ft</property>
- <property>aero/bi2vel</property>
- <property>velocities/r-aero-rad_sec</property>
- <value>0.1500</value>
- </product>
- </function>
- <function name="aero/coefficient/Clda">
- <description>Roll_moment_due_to_aileron</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/bw-ft</property>
- <property>fcs/left-aileron-pos-rad</property>
- <table>
- <independentVar>velocities/mach</independentVar>
- <tableData>
- 0.0000 0.1300
- 2.0000 0.0570
- </tableData>
- </table>
- </product>
- </function>
- <function name="aero/coefficient/Cldr">
- <description>Roll_moment_due_to_rudder</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/bw-ft</property>
- <property>fcs/rudder-pos-rad</property>
- <value>0.0100</value>
- </product>
- </function>
- </axis>
-
- <axis name="PITCH">
- <function name="aero/coefficient/Cmalpha">
- <description>Pitch_moment_due_to_alpha</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/cbarw-ft</property>
- <property>aero/alpha-rad</property>
- <value>-0.5000</value>
- </product>
- </function>
- <function name="aero/coefficient/Cmde">
- <description>Pitch_moment_due_to_elevator</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/cbarw-ft</property>
- <property>fcs/elevator-pos-rad</property>
- <table>
- <independentVar>velocities/mach</independentVar>
- <tableData>
- 0.0000 -0.5000 <!-- was -1.1 -->
- 2.0000 -0.2750
- </tableData>
- </table>
- </product>
- </function>
- <function name="aero/coefficient/Cmq">
- <description>Pitch_moment_due_to_pitch_rate</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/cbarw-ft</property>
- <property>aero/ci2vel</property>
- <property>velocities/q-aero-rad_sec</property>
- <value>-12.0000</value>
- </product>
- </function>
- <function name="aero/coefficient/Cmadot">
- <description>Pitch_moment_due_to_alpha_rate</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/cbarw-ft</property>
- <property>aero/ci2vel</property>
- <property>aero/alphadot-rad_sec</property>
- <value>-7.0000</value>
- </product>
- </function>
- </axis>
-
- <axis name="YAW">
- <function name="aero/coefficient/Cnb">
- <description>Yaw_moment_due_to_beta</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/bw-ft</property>
- <property>aero/beta-rad</property>
- <value>0.1200</value>
- </product>
- </function>
- <function name="aero/coefficient/Cnr">
- <description>Yaw_moment_due_to_yaw_rate</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/bw-ft</property>
- <property>aero/bi2vel</property>
- <property>velocities/r-aero-rad_sec</property>
- <value>-0.1500</value>
- </product>
- </function>
- <function name="aero/coefficient/Cndr">
- <description>Yaw_moment_due_to_rudder</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/bw-ft</property>
- <property>fcs/rudder-pos-rad</property>
- <value>-0.0500</value>
- </product>
- </function>
- <function name="aero/coefficient/Cnda">
- <description>Adverse_yaw</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/bw-ft</property>
- <property>fcs/left-aileron-pos-rad</property>
- <value>-0.0300</value>
- </product>
- </function>
- <function name="aero/coefficient/Cndi">
- <description>Yaw_moment_due_to_tail_incidence</description>
- <product>
- <property>aero/qbar-psf</property>
- <property>metrics/Sw-sqft</property>
- <property>metrics/bw-ft</property>
- <value>0.0007</value>
- </product>
- </function>
- </axis>
- </aerodynamics>
-</fdm_config>
+<?xml version="1.0"?>
+<?xml-stylesheet href="http://jsbsim.sourceforge.net/JSBSim.xsl";
type="text/xsl"?>
+<fdm_config name="rascal" version="2.0" release="BETA"
+ xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance";
+ xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd";>
+
+ <fileheader>
+ <author> Author Name </author>
+ <filecreationdate> Creation Date </filecreationdate>
+ <version> Version </version>
+ <description> Models a Malolo </description>
+ </fileheader>
+
+ <metrics>
+ <wingarea unit="FT2"> 10.57 </wingarea>
+ <wingspan unit="FT"> 9.17 </wingspan>
+ <chord unit="FT"> 1.15 </chord>
+ <htailarea unit="FT2"> 1.69 </htailarea>
+ <htailarm unit="FT"> 3.28 </htailarm>
+ <vtailarea unit="FT2"> 1.06 </vtailarea>
+ <vtailarm unit="FT"> 0 </vtailarm>
+ <location name="AERORP" unit="IN">
+ <x> 37.4 </x>
+ <y> 0 </y>
+ <z> 0 </z>
+ </location>
+ <location name="EYEPOINT" unit="IN">
+ <x> 20 </x>
+ <y> 0 </y>
+ <z> 5 </z>
+ </location>
+ <location name="VRP" unit="IN">
+ <x> 0 </x>
+ <y> 0 </y>
+ <z> 0 </z>
+ </location>
+ </metrics>
+
+ <mass_balance>
+ <ixx unit="SLUG*FT2"> 1 </ixx>
+ <iyy unit="SLUG*FT2"> 1 </iyy>
+ <izz unit="SLUG*FT2"> 2 </izz>
+ <ixy unit="SLUG*FT2"> 0 </ixy>
+ <ixz unit="SLUG*FT2"> 0 </ixz>
+ <iyz unit="SLUG*FT2"> 0 </iyz>
+ <emptywt unit="LBS"> 12 </emptywt>
+ <location name="CG" unit="IN">
+ <x> 36.4 </x>
+ <y> 0 </y>
+ <z> 4 </z>
+ </location>
+ <pointmass name="payload">
+ <weight unit="LBS"> 1 </weight>
+ <location name="payload" unit="IN">
+ <x> 0 </x>
+ <y> 0 </y>
+ <z> 0 </z>
+ </location>
+ </pointmass>
+ </mass_balance>
+
+ <ground_reactions>
+ <contact type="BOGEY" name="LEFT_MLG">
+ <location unit="IN">
+ <x> 40.1 </x>
+ <y> -9.9 </y>
+ <z> -10.1 </z>
+ </location>
+ <static_friction> 0.8 </static_friction>
+ <dynamic_friction> 0.5 </dynamic_friction>
+ <rolling_friction> 0.02 </rolling_friction>
+ <spring_coeff unit="LBS/FT"> 120 </spring_coeff>
+ <damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
+ <max_steer unit="DEG"> 0.0 </max_steer>
+ <brake_group> LEFT </brake_group>
+ <retractable>0</retractable>
+ </contact>
+ <contact type="BOGEY" name="RIGHT_MLG">
+ <location unit="IN">
+ <x> 40.1 </x>
+ <y> 9.9 </y>
+ <z> -10.1 </z>
+ </location>
+ <static_friction> 0.8 </static_friction>
+ <dynamic_friction> 0.5 </dynamic_friction>
+ <rolling_friction> 0.02 </rolling_friction>
+ <spring_coeff unit="LBS/FT"> 120 </spring_coeff>
+ <damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
+ <max_steer unit="DEG"> 0.0 </max_steer>
+ <brake_group> RIGHT </brake_group>
+ <retractable>0</retractable>
+ </contact>
+ <contact type="BOGEY" name="TAIL_LG">
+ <location unit="IN">
+ <x> 68.9 </x>
+ <y> 0 </y>
+ <z>-4.3 </z>
+ </location>
+ <static_friction> 0.8 </static_friction>
+ <dynamic_friction> 0.5 </dynamic_friction>
+ <rolling_friction> 0.02 </rolling_friction>
+ <spring_coeff unit="LBS/FT"> 24 </spring_coeff>
+ <damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
+ <max_steer unit="DEG"> 360.0 </max_steer>
+ <brake_group> NONE </brake_group>
+ <retractable>0</retractable>
+ </contact>
+ <contact type="BOGEY" name="NOSE_LG">
+ <location unit="IN">
+ <x>10</x>
+ <y>0</y>
+ <z>-8.3</z>
+ </location>
+ <static_friction> 0.8 </static_friction>
+ <dynamic_friction> 0.5 </dynamic_friction>
+ <rolling_friction> 0.02 </rolling_friction>
+ <spring_coeff unit="LBS/FT"> 24 </spring_coeff>
+ <damping_coeff unit="LBS/FT/SEC"> 20 </damping_coeff>
+ <max_steer unit="DEG"> 360.0 </max_steer>
+ <brake_group> NONE </brake_group>
+ <retractable>0</retractable>
+ </contact>
+
+ </ground_reactions>
+
+ <propulsion>
+ <engine file="Zenoah_G-26A">
+ <location unit="IN">
+ <x> 36 </x>
+ <y> 0 </y>
+ <z> 0 </z>
+ </location>
+ <orient unit="DEG">
+ <roll> 0.0 </roll>
+ <pitch> 0 </pitch>
+ <yaw> 0 </yaw>
+ </orient>
+ <feed>0</feed>
+ <thruster file="18x8">
+ <location unit="IN">
+ <x> 1 </x>
+ <y> 0 </y>
+ <z> 0 </z>
+ </location>
+ <orient unit="DEG">
+ <roll> 0.0 </roll>
+ <pitch> 0.0 </pitch>
+ <yaw> 0.0 </yaw>
+ </orient>
+ <p_factor>1.0</p_factor>
+ </thruster>
+ </engine>
+ <tank type="FUEL"> <!-- Tank number 0 -->
+ <location unit="IN">
+ <x> 36.36 </x>
+ <y> 0 </y>
+ <z> -1.89375 </z>
+ </location>
+ <capacity unit="LBS"> 1.5 </capacity>
+ <contents unit="LBS"> 1.5 </contents>
+ </tank>
+ </propulsion>
+
+ <flight_control name="FCS: rascal">
+ <channel name="All">
+
+ <summer name="Pitch Trim Sum">
+ <input>fcs/elevator-cmd-norm</input>
+ <input>fcs/pitch-trim-cmd-norm</input>
+ <clipto>
+ <min>-1</min>
+ <max>1</max>
+ </clipto>
+ </summer>
+
+ <aerosurface_scale name="Elevator Control">
+ <input>fcs/pitch-trim-sum</input>
+ <range>
+ <min>-0.35</min>
+ <max>0.3</max>
+ </range>
+ <output>fcs/elevator-pos-rad</output>
+ </aerosurface_scale>
+
+ <aerosurface_scale name="Elevator Normalized">
+ <input>fcs/elevator-pos-rad</input>
+ <domain>
+ <min>-0.3</min>
+ <max> 0.3</max>
+ </domain>
+ <range>
+ <min>-1</min>
+ <max> 1</max>
+ </range>
+ <output>fcs/elevator-pos-norm</output>
+ </aerosurface_scale>
+
+ <summer name="Roll Trim Sum">
+ <input>fcs/aileron-cmd-norm</input>
+ <input>fcs/roll-trim-cmd-norm</input>
+ <clipto>
+ <min>-1</min>
+ <max>1</max>
+ </clipto>
+ </summer>
+
+ <aerosurface_scale name="Left Aileron Control">
+ <input>fcs/roll-trim-sum</input>
+ <range>
+ <min>-0.35</min>
+ <max>0.35</max>
+ </range>
+ <output>fcs/left-aileron-pos-rad</output>
+ </aerosurface_scale>
+
+ <aerosurface_scale name="Right Aileron Control">
+ <input>-fcs/roll-trim-sum</input>
+ <range>
+ <min>-0.35</min>
+ <max>0.35</max>
+ </range>
+ <output>fcs/right-aileron-pos-rad</output>
+ </aerosurface_scale>
+
+ <aerosurface_scale name="Left aileron Normalized">
+ <input>fcs/left-aileron-pos-rad</input>
+ <domain>
+ <min>-0.35</min>
+ <max> 0.35</max>
+ </domain>
+ <range>
+ <min>-1</min>
+ <max> 1</max>
+ </range>
+ <output>fcs/left-aileron-pos-norm</output>
+ </aerosurface_scale>
+
+ <aerosurface_scale name="Right aileron Normalized">
+ <input>fcs/right-aileron-pos-rad</input>
+ <domain>
+ <min>-0.35</min>
+ <max> 0.35</max>
+ </domain>
+ <range>
+ <min>-1</min>
+ <max> 1</max>
+ </range>
+ <output>fcs/right-aileron-pos-norm</output>
+ </aerosurface_scale>
+
+ <summer name="Rudder Command Sum">
+ <input>fcs/rudder-cmd-norm</input>
+ <input>fcs/yaw-trim-cmd-norm</input>
+ <clipto>
+ <min>-1</min>
+ <max>1</max>
+ </clipto>
+ </summer>
+
+ <aerosurface_scale name="Rudder Control">
+ <input>fcs/rudder-command-sum</input>
+ <range>
+ <min>-0.35</min>
+ <max>0.35</max>
+ </range>
+ <output>fcs/rudder-pos-rad</output>
+ </aerosurface_scale>
+
+ <aerosurface_scale name="Rudder Normalized">
+ <input>fcs/rudder-pos-rad</input>
+ <domain>
+ <min>-0.35</min>
+ <max> 0.35</max>
+ </domain>
+ <range>
+ <min>-1</min>
+ <max> 1</max>
+ </range>
+ <output>fcs/rudder-pos-norm</output>
+ </aerosurface_scale>
+ </channel>
+ </flight_control>
+ <aerodynamics>
+
+ <axis name="DRAG">
+ <function name="aero/coefficient/CD0">
+ <description>Drag_at_zero_lift</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <table>
+ <independentVar>aero/alpha-rad</independentVar>
+ <tableData>
+ -1.5700 1.5000
+ -0.2600 0.0560
+ 0.0000 0.0280
+ 0.2600 0.0560
+ 1.5700 1.5000
+ </tableData>
+ </table>
+ </product>
+ </function>
+ <function name="aero/coefficient/CDi">
+ <description>Induced_drag</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>aero/cl-squared</property>
+ <value>0.0400</value>
+ </product>
+ </function>
+ <function name="aero/coefficient/CDbeta">
+ <description>Drag_due_to_sideslip</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <table>
+ <independentVar>aero/beta-rad</independentVar>
+ <tableData>
+ -1.5700 1.2300
+ -0.2600 0.0500
+ 0.0000 0.0000
+ 0.2600 0.0500
+ 1.5700 1.2300
+ </tableData>
+ </table>
+ </product>
+ </function>
+ <function name="aero/coefficient/CDde">
+ <description>Drag_due_to_Elevator_Deflection</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>fcs/elevator-pos-norm</property>
+ <value>0.0300</value>
+ </product>
+ </function>
+ </axis>
+
+ <axis name="SIDE">
+ <function name="aero/coefficient/CYb">
+ <description>Side_force_due_to_beta</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>aero/beta-rad</property>
+ <value>-1.0000</value>
+ </product>
+ </function>
+ </axis>
+
+ <axis name="LIFT">
+ <function name="aero/coefficient/CLalpha">
+ <description>Lift_due_to_alpha</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <table>
+ <independentVar>aero/alpha-rad</independentVar>
+ <tableData>
+ -0.2000 -0.7500
+ 0.0000 0.2500
+ 0.2300 1.4000
+ 0.6000 0.7100
+ </tableData>
+ </table>
+ </product>
+ </function>
+ <function name="aero/coefficient/CLde">
+ <description>Lift_due_to_Elevator_Deflection</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>fcs/elevator-pos-rad</property>
+ <value>0.2000</value>
+ </product>
+ </function>
+ </axis>
+
+ <axis name="ROLL">
+ <function name="aero/coefficient/Clb">
+ <description>Roll_moment_due_to_beta</description>
+ <!-- aka dihedral effect -->
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>metrics/bw-ft</property>
+ <property>aero/beta-rad</property>
+ <value>-0.1000</value>
+ </product>
+ </function>
+ <function name="aero/coefficient/Clp">
+ <description>Roll_moment_due_to_roll_rate</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>metrics/bw-ft</property>
+ <property>aero/bi2vel</property>
+ <property>velocities/p-aero-rad_sec</property>
+ <value>-0.4000</value>
+ </product>
+ </function>
+ <function name="aero/coefficient/Clr">
+ <description>Roll_moment_due_to_yaw_rate</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>metrics/bw-ft</property>
+ <property>aero/bi2vel</property>
+ <property>velocities/r-aero-rad_sec</property>
+ <value>0.1500</value>
+ </product>
+ </function>
+ <function name="aero/coefficient/Clda">
+ <description>Roll_moment_due_to_aileron</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>metrics/bw-ft</property>
+ <property>fcs/left-aileron-pos-rad</property>
+ <table>
+ <independentVar>velocities/mach</independentVar>
+ <tableData>
+ 0.0000 0.1300
+ 2.0000 0.0570
+ </tableData>
+ </table>
+ </product>
+ </function>
+ <function name="aero/coefficient/Cldr">
+ <description>Roll_moment_due_to_rudder</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>metrics/bw-ft</property>
+ <property>fcs/rudder-pos-rad</property>
+ <value>0.0100</value>
+ </product>
+ </function>
+ </axis>
+
+ <axis name="PITCH">
+ <function name="aero/coefficient/Cmalpha">
+ <description>Pitch_moment_due_to_alpha</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>metrics/cbarw-ft</property>
+ <property>aero/alpha-rad</property>
+ <value>-0.5000</value>
+ </product>
+ </function>
+ <function name="aero/coefficient/Cmde">
+ <description>Pitch_moment_due_to_elevator</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>metrics/cbarw-ft</property>
+ <property>fcs/elevator-pos-rad</property>
+ <table>
+ <independentVar>velocities/mach</independentVar>
+ <tableData>
+ 0.0000 -0.5000 <!-- was -1.1 -->
+ 2.0000 -0.2750
+ </tableData>
+ </table>
+ </product>
+ </function>
+ <function name="aero/coefficient/Cmq">
+ <description>Pitch_moment_due_to_pitch_rate</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>metrics/cbarw-ft</property>
+ <property>aero/ci2vel</property>
+ <property>velocities/q-aero-rad_sec</property>
+ <value>-12.0000</value>
+ </product>
+ </function>
+ <function name="aero/coefficient/Cmadot">
+ <description>Pitch_moment_due_to_alpha_rate</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>metrics/cbarw-ft</property>
+ <property>aero/ci2vel</property>
+ <property>aero/alphadot-rad_sec</property>
+ <value>-7.0000</value>
+ </product>
+ </function>
+ </axis>
+
+ <axis name="YAW">
+ <function name="aero/coefficient/Cnb">
+ <description>Yaw_moment_due_to_beta</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>metrics/bw-ft</property>
+ <property>aero/beta-rad</property>
+ <value>0.1200</value>
+ </product>
+ </function>
+ <function name="aero/coefficient/Cnr">
+ <description>Yaw_moment_due_to_yaw_rate</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>metrics/bw-ft</property>
+ <property>aero/bi2vel</property>
+ <property>velocities/r-aero-rad_sec</property>
+ <value>-0.1500</value>
+ </product>
+ </function>
+ <function name="aero/coefficient/Cndr">
+ <description>Yaw_moment_due_to_rudder</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>metrics/bw-ft</property>
+ <property>fcs/rudder-pos-rad</property>
+ <value>-0.0500</value>
+ </product>
+ </function>
+ <function name="aero/coefficient/Cnda">
+ <description>Adverse_yaw</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>metrics/bw-ft</property>
+ <property>fcs/left-aileron-pos-rad</property>
+ <value>-0.0300</value>
+ </product>
+ </function>
+ <function name="aero/coefficient/Cndi">
+ <description>Yaw_moment_due_to_tail_incidence</description>
+ <product>
+ <property>aero/qbar-psf</property>
+ <property>metrics/Sw-sqft</property>
+ <property>metrics/bw-ft</property>
+ <value>0.0007</value>
+ </product>
+ </function>
+ </axis>
+ </aerodynamics>
+</fdm_config>
Modified:
paparazzi-software/branches/campaign2010/conf/simulator/Malolo1/Models/Malolo1.ac
===================================================================
---
paparazzi-software/branches/campaign2010/conf/simulator/Malolo1/Models/Malolo1.ac
2010-11-10 14:25:16 UTC (rev 6387)
+++
paparazzi-software/branches/campaign2010/conf/simulator/Malolo1/Models/Malolo1.ac
2010-11-10 14:30:51 UTC (rev 6388)
@@ -1,4197 +1,4197 @@
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-MATERIAL "ac3dmat0" rgb 0 0 0 amb 0.2 0.2 0.2 emis 0 0 0 spec 0.2 0.2 0.2 shi
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@@ Diff output truncated at 153600 characters. @@
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- [paparazzi-commits] [6388] fix CRLF in campaign2010 branch,
Felix Ruess <=