Hello Julien,
please find enclosed the yasim configuration for a quadcopter.
Regards,
Maik
Julien Peeters schrieb am 18.09.2010 22:47:
Hi readers,
For my first post on this mailing-list I am looking for people who
already have built a working model for a quadcopter using the Yasim
FDM. I am a student in electronics and embedded systems and I aim to
build one for an experiment.
Next, I would like to do such "hardware in the loop" simulation and
validation. So I would like to be able to make Yasim/FlightGear
interacts with real hardware or at least Matlab. Is it possible? Some
of you already do that?
Best,
Julien.
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<!--
copter config for Autonomous Quadcopter - University Bremen
by Maik Justus
see README.yasim
-->
<!-- mass of the "empty" quadcopter in pounds (1 lb = 0,373241721 kg) -->
<airplane mass="2.4200">
<!-- Approach configuration, only for gear solver :-) -->
<approach speed="200" aoa="0" alt="0">
<control-setting axis="/controls/engines/engine[0]/throttle" value="0.05"/>
</approach>
<cruise speed="2" aoa="0" alt="0">
<control-setting axis="/controls/engines/engine[0]/throttle" value="0.2"/>
</cruise>
<!--position of the cockpit -->
<cockpit x="0" y="0" z="0.5"/>
<rotor
name="left"
x="0.0" y="0.3" z="0.16"
nx="0" ny="0" nz="1"
fx="1" fy="0" fz="0"
diameter="0.25"
numblades="2"
weightperblade="0.001"
relbladecenter="0.52"
chord="0.027"
twist="-12.0"
taper = "0.37"
rel-len-where-incidence-is-measured="0.7"
rel-len-blade-start="0.0"
rpm="17600"
phi0="0"
ccw="1"
maxcollective="100.0"
mincollective="-100.0"
mincyclicele="0.0"
maxcyclicele="0.0"
mincyclicail="0"
maxcyclicail="0"
airfoil-incidence-no-lift="1.0"
incidence-stall-zero-speed="15"
incidence-stall-half-sonic-speed="14.5"
lift-factor-stall="0.28"
drag-factor-stall="2.0"
stall-change-over="5.5"
pitch-a="0"
pitch-b="0"
delta="0.125"
airfoil-lift-coefficient="3.85"
airfoil-drag-coefficient0="0.0075"
airfoil-drag-coefficient1="0.25"
rotor-correction-factor = "1"
dynamic="1.0"
rellenflaphinge="0.01"
sharedflaphinge="0"
delta3="0"
translift-maxfactor="1.3"
translift-ve="20"
flapmin="-15"
flapmax="15"
flap0="-.15"
flap0factor="0"
notorque="0"
dragfactor="0.30"
ground-effect-constant="0.1"
number-of-segments="4"
number-of-parts="4"
cyclic-factor="0.8"
downwashfactor="1">
<control-input axis="/controls/engines/engine[0]/throttle" control="COLLECTIVE"
src0="0.0" src1="1.0"
dst0="-0.01" dst1="0.1"/>
<control-input axis="/controls/flight/aileron" control="COLLECTIVE"
src0="-1.0" src1="1.0"
dst0="-0.015" dst1="0.015"/>
<control-input axis="/controls/flight/rudder" control="COLLECTIVE"
src0="-1.0" src1="1.0"
dst0="-0.025" dst1="0.025"/>
</rotor>
<rotor
name="right"
x="0.0" y="-0.3" z="0.16"
nx="0" ny="0" nz="1"
fx="1" fy="0" fz="0"
diameter="0.25"
numblades="2"
weightperblade="0.001"
relbladecenter="0.52"
chord="0.027"
twist="-12.0"
taper = "0.37"
rel-len-where-incidence-is-measured="0.7"
rel-len-blade-start="0.0"
rpm="17600"
phi0="0"
ccw="1"
maxcollective="100.0"
mincollective="-100.0"
mincyclicele="0.0"
maxcyclicele="0.0"
mincyclicail="0"
maxcyclicail="0"
airfoil-incidence-no-lift="1.0"
incidence-stall-zero-speed="15"
incidence-stall-half-sonic-speed="14.5"
lift-factor-stall="0.28"
drag-factor-stall="2.0"
stall-change-over="5.5"
pitch-a="0"
pitch-b="0"
delta="0.125"
airfoil-lift-coefficient="3.85"
airfoil-drag-coefficient0="0.0075"
airfoil-drag-coefficient1="0.25"
rotor-correction-factor = "1"
dynamic="1.0"
rellenflaphinge="0.01"
sharedflaphinge="0"
delta3="0"
translift-maxfactor="1.3"
translift-ve="20"
flapmin="-15"
flapmax="15"
flap0="-.15"
flap0factor="0"
notorque="0"
dragfactor="0.30"
ground-effect-constant="0.1"
number-of-segments="4"
number-of-parts="4"
cyclic-factor="0.8"
downwashfactor="1">
<control-input axis="/controls/engines/engine[0]/throttle" control="COLLECTIVE"
src0="0.0" src1="1.0"
dst0="-0.01" dst1="0.1"/>
<control-input axis="/controls/flight/aileron" control="COLLECTIVE"
src0="-1.0" src1="1.0"
dst0="0.015" dst1="-0.015"/>
<control-input axis="/controls/flight/rudder" control="COLLECTIVE"
src0="-1.0" src1="1.0"
dst0="-0.025" dst1="0.025"/>
</rotor>
<rotor
name="front"
x="0.3" y="0.0" z="0.16"
nx="0" ny="0" nz="1"
fx="1" fy="0" fz="0"
diameter="0.25"
numblades="2"
weightperblade="0.001"
relbladecenter="0.52"
chord="0.027"
twist="-12.0"
taper = "0.37"
rel-len-where-incidence-is-measured="0.7"
rel-len-blade-start="0.0"
rpm="17600"
phi0="0"
ccw="0"
maxcollective="100.0"
mincollective="-100.0"
mincyclicele="0.0"
maxcyclicele="0.0"
mincyclicail="0"
maxcyclicail="0"
airfoil-incidence-no-lift="1.0"
incidence-stall-zero-speed="15"
incidence-stall-half-sonic-speed="14.5"
lift-factor-stall="0.28"
drag-factor-stall="2.0"
stall-change-over="5.5"
pitch-a="0"
pitch-b="0"
delta="0.125"
airfoil-lift-coefficient="3.85"
airfoil-drag-coefficient0="0.0075"
airfoil-drag-coefficient1="0.25"
rotor-correction-factor = "1"
dynamic="1.0"
rellenflaphinge="0.01"
sharedflaphinge="0"
delta3="0"
translift-maxfactor="1.3"
translift-ve="20"
flapmin="-15"
flapmax="15"
flap0="-.15"
flap0factor="0"
notorque="0"
dragfactor="0.30"
ground-effect-constant="0.1"
number-of-segments="4"
number-of-parts="4"
cyclic-factor="0.8"
downwashfactor="1">
<control-input axis="/controls/engines/engine[0]/throttle" control="COLLECTIVE"
src0="0.0" src1="1.0"
dst0="-0.01" dst1="0.1"/>
<control-input axis="/controls/flight/elevator" control="COLLECTIVE"
src0="-1.0" src1="1.0"
dst0="0.015" dst1="-0.015"/>
<control-input axis="/controls/flight/rudder" control="COLLECTIVE"
src0="-1.0" src1="1.0"
dst0="0.025" dst1="-0.025"/>
</rotor>
<rotor
name="back"
x="-0.3" y="0.0" z="0.16"
nx="0" ny="0" nz="1"
fx="1" fy="0" fz="0"
diameter="0.25"
numblades="2"
weightperblade="0.001"
relbladecenter="0.52"
chord="0.027"
twist="-12.0"
taper = "0.37"
rel-len-where-incidence-is-measured="0.7"
rel-len-blade-start="0.0"
rpm="17600"
phi0="0"
ccw="0"
maxcollective="100.0"
mincollective="-100.0"
mincyclicele="0.0"
maxcyclicele="0.0"
mincyclicail="0"
maxcyclicail="0"
airfoil-incidence-no-lift="1.0"
incidence-stall-zero-speed="15"
incidence-stall-half-sonic-speed="14.5"
lift-factor-stall="0.28"
drag-factor-stall="2.0"
stall-change-over="5.5"
pitch-a="0"
pitch-b="0"
delta="0.125"
airfoil-lift-coefficient="3.85"
airfoil-drag-coefficient0="0.0075"
airfoil-drag-coefficient1="0.25"
rotor-correction-factor = "1"
dynamic="1.0"
rellenflaphinge="0.01"
sharedflaphinge="0"
delta3="0"
translift-maxfactor="1.3"
translift-ve="20"
flapmin="-15"
flapmax="15"
flap0="-.15"
flap0factor="0"
notorque="0"
dragfactor="0.30"
ground-effect-constant="0.1"
number-of-segments="4"
number-of-parts="4"
cyclic-factor="0.8"
downwashfactor="1">
<control-input axis="/controls/engines/engine[0]/throttle" control="COLLECTIVE"
src0="0.0" src1="1.0"
dst0="-0.01" dst1="0.1"/>
<control-input axis="/controls/flight/elevator" control="COLLECTIVE"
src0="-1.0" src1="1.0"
dst0="-0.015" dst1="0.015"/>
<control-input axis="/controls/flight/rudder" control="COLLECTIVE"
src0="-1.0" src1="1.0"
dst0="0.025" dst1="-0.025"/>
</rotor>
<rotorgear
max-power-engine="2"
engine-prop-factor="0.005"
engine-accel-limit="20"
max-power-rotor-brake=".1"
rotorgear-friction=".02"
yasimdragfactor="10"
yasimliftfactor="140"
>
<control-input axis="/controls/engines/engine[0]/magnetos" control="ROTORGEARENGINEON"/>
<control-input axis="/controls/rotor/brake" control="ROTORBRAKE"
src0="0.0" src1="1.0"
dst0="0.0" dst1="1.0"/>
</rotorgear>
<fuselage
ax="-0.4" ay="0" az=".16"
bx="-0.2" by="0" bz=".16"
width="0.1" taper="1.0" midpoint="0.0"/>
<fuselage
ax="0.2" ay="0" az=".16"
bx="0.4" by="0" bz=".16"
width="0.1" taper="1.0" midpoint="0.0"/>
<fuselage
ax="-0.1" ay="0.3" az=".16"
bx="0.1" by="0.3" bz=".16"
width="0.1" taper="1.0" midpoint="0.0"/>
<fuselage
ax="-0.1" ay="-0.3" az=".16"
bx="0.1" by="-0.3" bz=".16"
width="0.1" taper="1.0" midpoint="0.0"/>
<ballast x="-0.5" y=" 0.0" z="0.12" mass=".2"/>
<ballast x=" 0.5" y=" 0.0" z="0.12" mass=".2"/>
<ballast x=" 0.0" y="-0.5" z="0.12" mass=".2"/>
<ballast x=" 0.0" y=" 0.5" z="0.12" mass=".2"/>
<ballast x=" 0.0" y=" 0.0" z="0.04" mass=".5"/>
<!-- ball -->
<gear
x="0.0" y="0.0" z="0.0"
compression="0.10"
spring="0.2"/>
<gear
x="1.3" y="0.0" z="0.01"
compression="0.10"
spring="0.2"/>
<gear
x="-1.3" y="0.0" z="0.01"
compression="0.10"
spring="0.2"/>
<gear
x="0.0" y="-1.3" z="0.01"
compression="0.10"
spring="0.2"/>
<gear
x="0.0" y="1.3" z="0.01"
compression="0.10"
spring="0.2"/>
<!-- <tank x="-2.47" y="+1.36" z=".68" capacity="10"/> -->
</airplane>
------------------------------------------------------------------------------
Start uncovering the many advantages of virtual appliances
and start using them to simplify application deployment and
accelerate your shift to cloud computing.
http://p.sf.net/sfu/novell-sfdev2dev
_______________________________________________
Flightgear-devel mailing list
Flightgear-devel@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/flightgear-devel
