pixhawk
14 years ago
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Before Width: | Height: | Size: 64 KiB After Width: | Height: | Size: 64 KiB |
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Before Width: | Height: | Size: 15 KiB After Width: | Height: | Size: 15 KiB |
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Before Width: | Height: | Size: 6.4 KiB After Width: | Height: | Size: 6.4 KiB |
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Before Width: | Height: | Size: 6.4 KiB After Width: | Height: | Size: 6.4 KiB |
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|
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<?xml version="1.0"?> |
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<electric_engine name="a2830-12"> |
||||
<power unit="WATTS"> 187 </power> |
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</electric_engine> |
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|
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<?xml version="1.0"?> |
||||
<!-- Generated by Aero-Matic v 1.1 |
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|
||||
Inputs: |
||||
horsepower: 0.250767 |
||||
pitch: fixed |
||||
max engine rpm: 9435 |
||||
prop diameter (ft): 0.83333333333333 |
||||
|
||||
Outputs: |
||||
max prop rpm: 22515.60 |
||||
gear ratio: 0.42 |
||||
Cp0: 0.002731 |
||||
Ct0: 0.003823 |
||||
static thrust (lbs): 0.66 |
||||
--> |
||||
<propeller name="prop"> |
||||
<!--<ixx> 0.00 </ixx>--> |
||||
<ixx> 0.000041666666 </ixx> |
||||
<!--assuming solid rod of mass 8 g--> |
||||
<diameter unit="IN"> 10.0 </diameter> |
||||
<numblades> 2 </numblades> |
||||
<gearratio> 1.0 </gearratio> |
||||
<p_factor> 0.79 </p_factor> |
||||
<table name="C_THRUST" type="internal"> |
||||
<tableData><!--experimentally measured--> |
||||
0.0 0.0054513 |
||||
1.4 0.0054513 |
||||
<!--aeromatic generated--> |
||||
<!--0.0 0.0042--> |
||||
<!--0.1 0.0040--> |
||||
<!--0.2 0.0038--> |
||||
<!--0.3 0.0035--> |
||||
<!--0.4 0.0032--> |
||||
<!--0.5 0.0028--> |
||||
<!--0.6 0.0023--> |
||||
<!--0.7 0.0017--> |
||||
<!--0.8 0.0009--> |
||||
<!--1.0 -0.0003--> |
||||
<!--1.2 -0.0016--> |
||||
<!--1.4 -0.0030--> |
||||
</tableData> |
||||
</table> |
||||
<table name="C_POWER" type="internal"> |
||||
<tableData> |
||||
0.0 0.0028 |
||||
0.1 0.0028 |
||||
0.2 0.0027 |
||||
0.3 0.0027 |
||||
0.4 0.0025 |
||||
0.5 0.0023 |
||||
0.6 0.0021 |
||||
0.7 0.0018 |
||||
0.8 0.0015 |
||||
1.0 0.0005 |
||||
1.2 -0.0008 |
||||
1.4 -0.0025 |
||||
1.6 -0.0042 |
||||
</tableData> |
||||
</table> |
||||
<!-- thrust effects of helical tip Mach --> |
||||
<table name="CT_MACH" type="internal"> |
||||
<tableData> |
||||
0.85 1.0 |
||||
1.05 0.8 |
||||
</tableData> |
||||
</table> |
||||
<!-- power-required effects of helical tip Mach --> |
||||
<table name="CP_MACH" type="internal"> |
||||
<tableData> |
||||
0.85 1.0 |
||||
1.05 1.8 |
||||
2.00 1.4 |
||||
</tableData> |
||||
</table> |
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</propeller> |
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@ -0,0 +1,88 @@
@@ -0,0 +1,88 @@
|
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<?xml version="1.0"?> |
||||
<PropertyList> |
||||
<!--Airframe--> |
||||
<path>arducopter.ac</path> |
||||
<offsets> |
||||
<z-m>0.0</z-m> |
||||
<y-m>0</y-m> |
||||
<x-m>0.0</x-m> |
||||
<pitch-deg>0</pitch-deg> |
||||
<heading-deg>180</heading-deg> |
||||
</offsets> |
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<!--Propeller Right--> |
||||
<animation> |
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<type>noshadow</type> |
||||
<object-name>propeller0</object-name> |
||||
</animation> |
||||
<animation> |
||||
<type>spin</type> |
||||
<object-name>propeller0</object-name> |
||||
<property>/controls/engines/engine[0]/throttle</property> |
||||
<factor>12000</factor> |
||||
<axis> |
||||
<x1-m>0.000</x1-m> |
||||
<y1-m>-0.288</y1-m> |
||||
<z1-m>0.046</z1-m> |
||||
<x2-m>0.000</x2-m> |
||||
<y2-m>-0.288</y2-m> |
||||
<z2-m>0.012</z2-m> |
||||
</axis> |
||||
</animation> |
||||
<!--Propeller Left--> |
||||
<animation> |
||||
<type>noshadow</type> |
||||
<object-name>propeller1</object-name> |
||||
</animation> |
||||
<animation> |
||||
<type>spin</type> |
||||
<object-name>propeller1</object-name> |
||||
<property>/controls/engines/engine[1]/throttle</property> |
||||
<factor>12000</factor> |
||||
<axis> |
||||
<x1-m>0.000</x1-m> |
||||
<y1-m>0.288</y1-m> |
||||
<z1-m>0.046</z1-m> |
||||
<x2-m>0.000</x2-m> |
||||
<y2-m>0.288</y2-m> |
||||
<z2-m>0.012</z2-m> |
||||
</axis> |
||||
</animation> |
||||
<!--Propeller Front--> |
||||
<animation> |
||||
<type>noshadow</type> |
||||
<object-name>propeller2</object-name> |
||||
</animation> |
||||
<animation> |
||||
<type>spin</type> |
||||
<object-name>propeller2</object-name> |
||||
<property>/controls/engines/engine[2]/throttle</property> |
||||
<factor>12000</factor> |
||||
<axis> |
||||
<x1-m>0.288</x1-m> |
||||
<y1-m>0.000</y1-m> |
||||
<z1-m>0.046</z1-m> |
||||
<x2-m>0.288</x2-m> |
||||
<y2-m>0.000</y2-m> |
||||
<z2-m>0.012</z2-m> |
||||
</axis> |
||||
</animation> |
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<!--Propeller Back--> |
||||
<animation> |
||||
<type>noshadow</type> |
||||
<object-name>propeller3</object-name> |
||||
</animation> |
||||
<animation> |
||||
<type>spin</type> |
||||
<object-name>propeller3</object-name> |
||||
<property>/controls/engines/engine[3]/throttle</property> |
||||
<factor>12000</factor> |
||||
<axis> |
||||
<x1-m>-0.288</x1-m> |
||||
<y1-m>0.000</y1-m> |
||||
<z1-m>0.046</z1-m> |
||||
<x2-m>-0.288</x2-m> |
||||
<y2-m>0.000</y2-m> |
||||
<z2-m>0.012</z2-m> |
||||
</axis> |
||||
</animation> |
||||
</PropertyList> |
||||
@ -0,0 +1,93 @@
@@ -0,0 +1,93 @@
|
||||
<?xml version="1.0"?> |
||||
<!-- |
||||
************************************************************************ |
||||
Arducotper UAV Model |
||||
************************************************************************ |
||||
--> |
||||
<PropertyList> |
||||
<sim> |
||||
<description>Arducopter UAV (R/C)</description> |
||||
<author>James Goppert</author> |
||||
<aircraft-version>0.0</aircraft-version> |
||||
<status>experimental</status> |
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<flight-model>jsb</flight-model> |
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<aero>arducopter</aero> |
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<model-hz>50</model-hz> |
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<sound> |
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<path>Aircraft/Generic/generic-sound.xml</path> |
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</sound> |
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<panel> |
||||
<visibility archive="n">false</visibility> |
||||
</panel> |
||||
<model> |
||||
<path archive="y">Aircraft/arducopter/Models/arducopter.xml</path> |
||||
</model> |
||||
<view> |
||||
<internal archive="y">true</internal> |
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<config> |
||||
<x-offset-m archive="y">0.0</x-offset-m> |
||||
<y-offset-m archive="y">0.15</y-offset-m> |
||||
<z-offset-m archive="y">0.90</z-offset-m> |
||||
<pitch-offset-deg>0</pitch-offset-deg> |
||||
</config> |
||||
</view> |
||||
<chase-distance-m archive="y" type="double">-5.5</chase-distance-m> |
||||
<help> |
||||
<title>arducopter UAV</title> |
||||
<line>Cruise speed: ? mph</line> |
||||
<line>Never-exceed (Vne): ? mph</line> |
||||
<line>Best Glide (Vglide): ? mph</line> |
||||
<line>Maneuvering (Va): ? mph</line> |
||||
<line>Approach speed: ? mph</line> |
||||
<line>Stall speed (Vs): ? mph</line> |
||||
</help> |
||||
<startup> |
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<splash-title>Arducopter UAV DIY Drones/ OPENMAV</splash-title> |
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<splash-texture>Aircraft/arducopter/arducopter.jpg</splash-texture> |
||||
</startup> |
||||
</sim> |
||||
<controls> |
||||
<flight> |
||||
<aileron-trim>0.00</aileron-trim> |
||||
<!-- fixed --> |
||||
<elevator-trim>0.00</elevator-trim> |
||||
<!-- controllable --> |
||||
</flight> |
||||
</controls> |
||||
<consumables> |
||||
<fuel> |
||||
<tank n="0"> |
||||
<level-gal_us>0</level-gal_us> |
||||
</tank> |
||||
</fuel> |
||||
</consumables> |
||||
<payload> |
||||
<weight> |
||||
<name type="string">Payload</name> |
||||
<weight-lb alias="/fdm/jsbsim/inertia/pointmass-weight-lbs[0]"/> |
||||
<min-lb type="double">0.0</min-lb> |
||||
<max-lb type="double">1.0</max-lb> |
||||
</weight> |
||||
</payload> |
||||
<nasal> |
||||
<arducopter> |
||||
<script> |
||||
setlistener("/sim/signals/fdm-initialized", func { |
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var left = screen.display.new(20, 10); |
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left.add("/controls/engines/engine[0]/throttle"); |
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left.add("/controls/engines/engine[1]/throttle"); |
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left.add("/controls/engines/engine[2]/throttle"); |
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left.add("/controls/engines/engine[3]/throttle"); |
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|
||||
var right = screen.display.new(-250, 20); |
||||
right.add("/position/altitude-agl-ft"); |
||||
right.add("/orientation/roll-deg"); |
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right.add("/orientation/pitch-deg"); |
||||
right.add("/orientation/heading-deg"); |
||||
right.add("/instrumentation/gps/indicated-ground-speed-kt"); |
||||
}); |
||||
</script> |
||||
</arducopter> |
||||
</nasal> |
||||
</PropertyList> |
||||
<!-- vim:sw=4:ts=4:expandtab --> |
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|
After Width: | Height: | Size: 18 KiB |
@ -0,0 +1,248 @@
@@ -0,0 +1,248 @@
|
||||
<?xml version="1.0"?> |
||||
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?> |
||||
<fdm_config xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" name="dflyer" version="2.0" release="ALPHA" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd"> |
||||
<fileheader> |
||||
<author> James Goppert </author> |
||||
<filecreationdate> 2010-03-11 </filecreationdate> |
||||
<version>0.0 </version> |
||||
<description> Arducopter DIY Drones UAV. </description> |
||||
</fileheader> |
||||
<metrics> |
||||
<wingarea unit="M2"> 0.017</wingarea> |
||||
<wingspan unit="M"> 0.13 </wingspan> |
||||
<chord unit="FT"> 0.0 </chord> |
||||
<htailarea unit="FT2"> 0.0 </htailarea> |
||||
<htailarm unit="FT"> 0.0 </htailarm> |
||||
<vtailarea unit="FT2"> 0.0 </vtailarea> |
||||
<vtailarm unit="FT"> 0.0 </vtailarm> |
||||
<location name="AERORP" unit="IN"> |
||||
<x> 0.00 </x> |
||||
<y> 0.00 </y> |
||||
<z> 0.00 </z> |
||||
</location> |
||||
<location name="EYEPOINT" unit="IN"> |
||||
<x> 0.0 </x> |
||||
<y> 0.0 </y> |
||||
<z> 0.0 </z> |
||||
</location> |
||||
<location name="VRP" unit="IN"> |
||||
<x>0</x> |
||||
<y>0</y> |
||||
<z>0</z> |
||||
</location> |
||||
</metrics> |
||||
<mass_balance> |
||||
<!--roughtly approximating this as a solid sphere with correct mass--> |
||||
<ixx unit="KG*M2"> 0.036 </ixx> |
||||
<iyy unit="KG*M2"> 0.036 </iyy> |
||||
<izz unit="KG*M2"> 0.036 </izz> |
||||
<emptywt unit="KG"> 1.0 </emptywt> |
||||
<location name="CG" unit="IN"> |
||||
<x> 0.0 </x> |
||||
<y> 0.0 </y> |
||||
<z> 0.0 </z> |
||||
</location> |
||||
<pointmass name="Payload"> |
||||
<weight unit="KG"> 0.0 </weight> |
||||
<location unit="IN"> |
||||
<x> 0.0 </x> |
||||
<y> 0.0 </y> |
||||
<z> 0.0 </z> |
||||
</location> |
||||
</pointmass> |
||||
</mass_balance> |
||||
<ground_reactions> |
||||
<contact type="BOGEY" name="frontbase"> |
||||
<location unit="M"> |
||||
<x> -0.283 </x> |
||||
<y> 0.00 </y> |
||||
<z> -0.033</z> |
||||
</location> |
||||
<static_friction> 0.80 </static_friction> |
||||
<dynamic_friction> 0.50 </dynamic_friction> |
||||
<spring_coeff unit="N/M"> 800 </spring_coeff> |
||||
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff> |
||||
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound> |
||||
</contact> |
||||
<contact type="BOGEY" name="rearbase"> |
||||
<location unit="M"> |
||||
<x> 0.283 </x> |
||||
<y> 0.00 </y> |
||||
<z> -0.033</z> |
||||
</location> |
||||
<static_friction> 0.80 </static_friction> |
||||
<dynamic_friction> 0.50 </dynamic_friction> |
||||
<spring_coeff unit="N/M"> 800 </spring_coeff> |
||||
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff> |
||||
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound> |
||||
</contact> |
||||
<contact type="BOGEY" name="leftbase"> |
||||
<location unit="M"> |
||||
<x> 0.00 </x> |
||||
<y> 0.283 </y> |
||||
<z> -0.033</z> |
||||
</location> |
||||
<static_friction> 0.80 </static_friction> |
||||
<dynamic_friction> 0.50 </dynamic_friction> |
||||
<spring_coeff unit="N/M"> 800 </spring_coeff> |
||||
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff> |
||||
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound> |
||||
</contact> |
||||
<contact type="BOGEY" name="rightbase"> |
||||
<location unit="M"> |
||||
<x> 0.00 </x> |
||||
<y> -0.283 </y> |
||||
<z> -0.033</z> |
||||
</location> |
||||
<static_friction> 0.80 </static_friction> |
||||
<dynamic_friction> 0.50 </dynamic_friction> |
||||
<spring_coeff unit="N/M"> 800 </spring_coeff> |
||||
<damping_coeff unit="N/M2/SEC2" type="SQUARE"> 7 </damping_coeff> |
||||
<damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE"> 300 </damping_coeff_rebound> |
||||
</contact> |
||||
</ground_reactions> |
||||
<!-- the front and rear motors spin clockwise, and the left and right motors spin counter-clockwise. --> |
||||
<propulsion> |
||||
<engine file="a2830-12" name="front"> |
||||
<location unit="M"> |
||||
<x> -0.283 </x> |
||||
<y> 0.00 </y> |
||||
<z> 0.00 </z> |
||||
</location> |
||||
<orient unit="DEG"> |
||||
<pitch> 90.00 </pitch> |
||||
<roll> 0.00 </roll> |
||||
<yaw> 0.00 </yaw> |
||||
</orient> |
||||
<feed>0</feed> |
||||
<thruster file="prop10x4.5"> |
||||
<location unit="M"> |
||||
<x> -0.283 </x> |
||||
<y> 0.00 </y> |
||||
<z> 0.125 </z> |
||||
</location> |
||||
<orient unit="DEG"> |
||||
<pitch> 90.00 </pitch> |
||||
<roll> 0.00 </roll> |
||||
<yaw> 0.00 </yaw> |
||||
</orient> |
||||
<sense> 1 </sense> |
||||
<p_factor> 10 </p_factor> |
||||
</thruster> |
||||
</engine> |
||||
<engine file="a2830-12" name="rear"> |
||||
<location unit="M"> |
||||
<x> 0.283 </x> |
||||
<y> 0.000 </y> |
||||
<z> 0.000 </z> |
||||
</location> |
||||
<orient unit="DEG"> |
||||
<pitch> 90.00 </pitch> |
||||
<roll> 0.00 </roll> |
||||
<yaw> 0.00 </yaw> |
||||
</orient> |
||||
<feed>0</feed> |
||||
<thruster file="prop10x4.5"> |
||||
<location unit="M"> |
||||
<x> 0.283 </x> |
||||
<y> 0.000 </y> |
||||
<z> 0.125 </z> |
||||
</location> |
||||
<orient unit="DEG"> |
||||
<pitch> 90.00 </pitch> |
||||
<roll> 0.00 </roll> |
||||
<yaw> 0.00 </yaw> |
||||
</orient> |
||||
<sense> 1 </sense> |
||||
<p_factor> 10 </p_factor> |
||||
</thruster> |
||||
</engine> |
||||
<engine file="a2830-12" name="left"> |
||||
<location unit="M"> |
||||
<x> 0.00 </x> |
||||
<y> 0.283 </y> |
||||
<z> 0.00 </z> |
||||
</location> |
||||
<orient unit="DEG"> |
||||
<pitch> 90.00 </pitch> |
||||
<roll> 0.00 </roll> |
||||
<yaw> 0.00 </yaw> |
||||
</orient> |
||||
<feed>0</feed> |
||||
<thruster file="prop10x4.5"> |
||||
<location unit="M"> |
||||
<x> 0.00 </x> |
||||
<y> 0.283 </y> |
||||
<z> 0.125 </z> |
||||
</location> |
||||
<orient unit="DEG"> |
||||
<pitch> 90.00 </pitch> |
||||
<roll> 0.00 </roll> |
||||
<yaw> 0.00 </yaw> |
||||
</orient> |
||||
<sense> -1 </sense> |
||||
<p_factor> 10 </p_factor> |
||||
</thruster> |
||||
</engine> |
||||
<engine file="a2830-12" name="right"> |
||||
<location unit="M"> |
||||
<x> 0.000 </x> |
||||
<y> -0.283 </y> |
||||
<z> 0.000 </z> |
||||
</location> |
||||
<orient unit="DEG"> |
||||
<pitch> 90.00 </pitch> |
||||
<roll> 0.00 </roll> |
||||
<yaw> 0.00 </yaw> |
||||
</orient> |
||||
<feed>0</feed> |
||||
<thruster file="prop10x4.5"> |
||||
<location unit="M"> |
||||
<x> 0.000 </x> |
||||
<y> -0.283 </y> |
||||
<z> 0.125 </z> |
||||
</location> |
||||
<orient unit="DEG"> |
||||
<pitch> 90.00 </pitch> |
||||
<roll> 0.00 </roll> |
||||
<yaw> 0.00 </yaw> |
||||
</orient> |
||||
<sense> -1 </sense> |
||||
<p_factor> 10 </p_factor> |
||||
</thruster> |
||||
</engine> |
||||
<tank type="FUEL" number="0"> |
||||
<location unit="M"> |
||||
<x> 0.00 </x> |
||||
<y> 0.00 </y> |
||||
<z> -0.07 </z> |
||||
</location> |
||||
<!--have to have a fuel capacity, so setting it small--> |
||||
<capacity unit="KG"> 0.00000000001 </capacity> |
||||
<contents unit="KG"> 0.0 </contents> |
||||
</tank> |
||||
</propulsion> |
||||
<aerodynamics> |
||||
<axis name="LIFT"> |
||||
</axis> |
||||
<axis name="DRAG"> |
||||
<function name="aero/coefficient/CD0"> |
||||
<description>Overall Drag</description> |
||||
<product> |
||||
<property>aero/qbar-psf</property> |
||||
<property>metrics/Sw-sqft</property> |
||||
<value>1</value> |
||||
</product> |
||||
</function> |
||||
</axis> |
||||
<axis name="SIDE"> |
||||
</axis> |
||||
<axis name="ROLL"> |
||||
</axis> |
||||
<axis name="PITCH"> |
||||
</axis> |
||||
<axis name="YAW"> |
||||
</axis> |
||||
</aerodynamics> |
||||
</fdm_config> |
||||
<!-- vim:ts=2:sw=2:expandtab --> |
||||
@ -0,0 +1,2 @@
@@ -0,0 +1,2 @@
|
||||
#!/bin/bash |
||||
find . -name "*.xml" -exec xmllint -format {} -o {} \; |
||||
@ -0,0 +1,12 @@
@@ -0,0 +1,12 @@
|
||||
<?xml version="1.0"?> |
||||
<initialize name="reset00"> |
||||
<ubody unit="M/SEC"> nan </ubody> |
||||
<vbody unit="M/SEC"> nan </vbody> |
||||
<wbody unit="M/SEC"> nan </wbody> |
||||
<phi unit="DEG"> nan </phi> |
||||
<theta unit="DEG"> -nan </theta> |
||||
<psi unit="DEG"> nan </psi> |
||||
<longitude unit="DEG"> nan </longitude> |
||||
<latitude unit="DEG"> nan </latitude> |
||||
<altitude unit="M"> nan </altitude> |
||||
</initialize> |
||||
|
Before Width: | Height: | Size: 108 KiB After Width: | Height: | Size: 108 KiB |
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Before Width: | Height: | Size: 346 KiB After Width: | Height: | Size: 346 KiB |
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Before Width: | Height: | Size: 246 KiB After Width: | Height: | Size: 246 KiB |
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Before Width: | Height: | Size: 127 KiB After Width: | Height: | Size: 127 KiB |
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Before Width: | Height: | Size: 64 KiB After Width: | Height: | Size: 64 KiB |
|
Before Width: | Height: | Size: 47 KiB After Width: | Height: | Size: 47 KiB |
|
Before Width: | Height: | Size: 48 KiB After Width: | Height: | Size: 48 KiB |
|
Before Width: | Height: | Size: 1.3 MiB After Width: | Height: | Size: 1.3 MiB |
|
Before Width: | Height: | Size: 868 KiB After Width: | Height: | Size: 868 KiB |
|
Before Width: | Height: | Size: 2.2 MiB After Width: | Height: | Size: 2.2 MiB |
|
Before Width: | Height: | Size: 866 KiB After Width: | Height: | Size: 866 KiB |
|
Before Width: | Height: | Size: 182 KiB After Width: | Height: | Size: 182 KiB |
|
Before Width: | Height: | Size: 231 KiB After Width: | Height: | Size: 231 KiB |
|
Before Width: | Height: | Size: 1.6 MiB After Width: | Height: | Size: 1.6 MiB |
|
Before Width: | Height: | Size: 330 KiB After Width: | Height: | Size: 330 KiB |