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Reverted PX4#690 on UAS model see PX4#730 and b195315
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@C-Glick
C-Glick committed Mar 18, 2021
1 parent 26b4500 commit 625c215
Showing 1 changed file with 20 additions and 36 deletions.
56 changes: 20 additions & 36 deletions models/open_uas/open_uas.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -555,12 +555,10 @@
<parent>base_link</parent>
</joint>
<plugin name="left_wing_liftdrag" filename="libLiftDragPlugin.so">
<alpha0>-0.009519322</alpha0>
<cd_alpha0>0.003</cd_alpha0>
<cm_alpha0>0.002072715</cm_alpha0>
<a0>0.05984281113</a0>
<cla>4.752798721</cla>
<cda>0.35</cda>
<cma>0.02</cma>
<cda>0.6417112299</cda>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
Expand All @@ -574,19 +572,15 @@
<control_joint_name>
left_aileron_joint
</control_joint_name>
<cl_delta>-0.5</cl_delta>
<cd_delta>0.05</cd_delta>
<cm_delta>0.005</cm_delta>
<control_joint_rad_to_cl>-0.5</control_joint_rad_to_cl>
<robotNamespace></robotNamespace>
<windSubTopic>world_wind</windSubTopic>
</plugin>
<plugin name="right_wing_liftdrag" filename="libLiftDragPlugin.so">
<alpha0>-0.009519322</alpha0>
<cd_alpha0>0.003</cd_alpha0>
<cm_alpha0>0.002072715</cm_alpha0>
<a0>0.05984281113</a0>
<cla>4.752798721</cla>
<cda>0.35</cda>
<cma>0.02</cma>
<cda>0.6417112299</cda>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
Expand All @@ -600,19 +594,15 @@
<control_joint_name>
right_aileron_joint
</control_joint_name>
<cl_delta>-0.5</cl_delta>
<cd_delta>0.05</cd_delta>
<cm_delta>0.005</cm_delta>
<control_joint_rad_to_cl>-0.5</control_joint_rad_to_cl>
<robotNamespace></robotNamespace>
<windSubTopic>world_wind</windSubTopic>
</plugin>
<plugin name="left_flap_liftdrag" filename="libLiftDragPlugin.so">
<alpha0>-0.009519322</alpha0>
<cd_alpha0>0.003</cd_alpha0>
<cm_alpha0>0.002072715</cm_alpha0>
<a0>0.05984281113</a0>
<cla>4.752798721</cla>
<cda>0.35</cda>
<cma>0.02</cma>
<cda>0.6417112299</cda>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
Expand All @@ -626,19 +616,15 @@
<control_joint_name>
left_flap_joint
</control_joint_name>
<cl_delta>-0.5</cl_delta>
<cd_delta>0.05</cd_delta>
<cm_delta>0.005</cm_delta>
<control_joint_rad_to_cl>-0.5</control_joint_rad_to_cl>
<robotNamespace></robotNamespace>
<windSubTopic>world_wind</windSubTopic>
</plugin>
<plugin name="right_flap_liftdrag" filename="libLiftDragPlugin.so">
<alpha0>-0.009519322</alpha0>
<cd_alpha0>0.003</cd_alpha0>
<cm_alpha0>0.002072715</cm_alpha0>
<a0>0.05984281113</a0>
<cla>4.752798721</cla>
<cda>0.35</cda>
<cma>0.02</cma>
<cda>0.6417112299</cda>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
Expand All @@ -652,14 +638,12 @@
<control_joint_name>
right_flap_joint
</control_joint_name>
<cl_delta>-0.5</cl_delta>
<cd_delta>0.05</cd_delta>
<cm_delta>0.005</cm_delta>
<control_joint_rad_to_cl>-0.5</control_joint_rad_to_cl>
<robotNamespace></robotNamespace>
<windSubTopic>world_wind</windSubTopic>
</plugin>
<plugin name="elevator_liftdrag" filename="libLiftDragPlugin.so">
<alpha0>-0.2</alpha0>
<a0>-0.2</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>0.0</cma>
Expand All @@ -676,12 +660,12 @@
<control_joint_name>
elevator_joint
</control_joint_name>
<cl_delta>-4.0</cl_delta>
<control_joint_rad_to_cl>-4.0</control_joint_rad_to_cl>
<robotNamespace></robotNamespace>
<windSubTopic>world_wind</windSubTopic>
</plugin>
<plugin name="rudder_liftdrag" filename="libLiftDragPlugin.so">
<alpha0>0.0</alpha0>
<a0>0.0</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>0.0</cma>
Expand All @@ -698,7 +682,7 @@
<control_joint_name>
rudder_joint
</control_joint_name>
<cl_delta>4.0</cl_delta>
<control_joint_rad_to_cl>4.0</control_joint_rad_to_cl>
<robotNamespace></robotNamespace>
<windSubTopic>world_wind</windSubTopic>
</plugin>
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