PX4-Autopilot/Tools/simulation/gz/models/foxtech_loong_2160/model.sdf

<?xml version="1.0"?>
<sdf version="1.10">
  <model name="foxtech_loong_2160">
    <pose>0 0 0.5 0 0 0</pose>
    <link name="base_link">
      <visual name="visual_base_link">
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/VTOL.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="collision_base_link">
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/VTOL.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <inertial>
        <pose>-0.13220955077769075 -4.9142356489896525e-08 0.04102678265168308 1.5707963267948966 -1.5231416433972742 0</pose>
        <mass>3.584838964525901</mass>
        <inertia>
          <ixx>0.67738485351961117</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.40350427325261343</iyy>
          <iyz>0</iyz>
          <izz>0.28925142846350795</izz>
        </inertia>
      </inertial>
      <sensor name="imu_sensor" type="imu">
        <always_on>1</always_on>
        <update_rate>250</update_rate>
      </sensor>
    </link>
    <link name="legs_link">
      <pose>0 0 0 0 0 -1.57</pose>
      <visual name="visual_legs_link">
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/legs.dae</uri>
          </mesh>
        </geometry>
        <material>
          <ambient>1 1 1 1.0</ambient>
          <diffuse>1 1 1 1.0</diffuse>
        </material>
      </visual>
      <inertial>
        <pose>3.7153930608820144e-06 -0.17032952180315669 -0.067888027893133446 0.010363008330798451 -1.494594844601834 1.5602561510969915</pose>
        <mass>0.6675493726413797</mass>
        <inertia>
          <ixx>0.032153703643267112</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.031670484418576728</iyy>
          <iyz>0</iyz>
          <izz>0.00069030434527976208</izz>
        </inertia>
      </inertial>
      <collision name="collision_legs_link">
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/legs.dae</uri>
          </mesh>
        </geometry>
      </collision>
    </link>
    <joint name='legs_joint' type='fixed'>
      <child>legs_link</child>
      <parent>base_link</parent>
    </joint>
    <link name="airspeed_link">
      <inertial>
        <mass>0.015</mass>
        <inertia>
          <ixx>1e-05</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1e-05</iyy>
          <iyz>0</iyz>
          <izz>1e-05</izz>
        </inertia>
      </inertial>
      <visual name="visual">
        <geometry>
          <cylinder>
            <radius>0.01</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
        <material>
          <ambient>0 0 0 1.0</ambient>
          <diffuse>0 0 0 1.0</diffuse>
        </material>
      </visual>
      <sensor name="air_speed" type="air_speed">
        <always_on>1</always_on>
        <update_rate>30</update_rate>
        <air_speed>
          <pressure>
            <noise type="gaussian">
              <mean>0</mean>
              <stddev>0.01</stddev>
            </noise>
          </pressure>
        </air_speed>
      </sensor>
    </link>
    <joint name='airspeed_joint' type='fixed'>
      <child>airspeed_link</child>
      <parent>base_link</parent>
    </joint>
    <link name="aileron_left_link">
      <pose>-0.122 0.713 0.062 0 0 -1.57</pose>
      <visual name="visual_aileron_left_link">
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/aileron_left.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="collision_aileron_left_link">
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/aileron_left.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <inertial>
        <pose>0.016428520956860652 -0.026006344294799606 -0.0023574007803185606 -1.5395303459623877 -1.5044452951949348 -1.6400967799666224</pose>
        <mass>0.48889497715279695</mass>
        <inertia>
          <ixx>0.0046714785213929121</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.0044549919806967505</iyy>
          <iyz>0</iyz>
          <izz>0.00022471747503113157</izz>
        </inertia>
      </inertial>
    </link>
    <joint name="servo_0" type="revolute">
      <parent>base_link</parent>
      <child>aileron_left_link</child>
      <axis>
        <xyz>-1 0 0</xyz>
        <limit>
          <lower>-0.53</lower>
          <upper>0.53</upper>
        </limit>
        <dynamics>
          <damping>1.000</damping>
        </dynamics>
      </axis>
    </joint>
    <link name="aileron_right_link">
      <pose>-0.122 -0.713 0.062 0 0 -1.57</pose>
      <visual name="visual_aileron_right_link">
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/aileron_right.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="collision_aileron_right_link">
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/aileron_right.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <inertial>
        <pose>-0.016428520373255796 -0.026006344259039589 -0.0023573984798765397 -1.6020624043352432 -1.5044453783967096 -1.5014957739781367</pose>
        <mass>0.48889496879062661</mass>
        <inertia>
          <ixx>0.0046714784977765411</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.0044549919610427299</iyy>
          <iyz>0</iyz>
          <izz>0.00022471747055809963</izz>
        </inertia>
      </inertial>
    </link>
    <joint name="servo_1" type="revolute">
      <parent>base_link</parent>
      <child>aileron_right_link</child>
      <axis>
        <xyz>-1 0 0</xyz>
        <limit>
          <lower>-0.53</lower>
          <upper>0.53</upper>
        </limit>
        <dynamics>
          <damping>1.000</damping>
        </dynamics>
      </axis>
    </joint>
    <link name="elevator_link">
      <visual name="visual_elevator_right_link">
        <pose>-0.883 -0.145 0.058 0 0 -1.57</pose>
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/elevator_right.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="collision_elevator_right_link">
        <pose>-0.883 -0.145 0.058 0 0 -1.57</pose>
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/elevator_right.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name="visual_elevator_left_link">
        <pose>-0.883 0.145 0.058 0 0 -1.57</pose>
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/elevator_left.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="collision_elevator_left_link">
        <pose>-0.883 0.145 0.058 0 0 -1.57</pose>
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/elevator_left.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <inertial>
        <pose>-0.90103043712540809 -1.4356019912623529e-05 0.057304774890379953 -1.5708004219891478 -1.5333831628670098 -3.141493135229823</pose>
        <mass>0.12150608610187363</mass>
        <inertia>
          <ixx>0.0029053735939891879</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.0028879706692375028</iyy>
          <iyz>0</iyz>
          <izz>1.7683703559870421e-05</izz>
        </inertia>
      </inertial>
    </link>
    <joint name="servo_2" type="revolute">
      <pose>-0.883 0 0.058 0 0 -1.57</pose>
      <parent>base_link</parent>
      <child>elevator_link</child>
      <axis>
        <xyz>-1 0 0</xyz>
        <limit>
          <lower>-0.53</lower>
          <upper>0.53</upper>
        </limit>
        <dynamics>
          <damping>1.000</damping>
        </dynamics>
      </axis>
    </joint>
    <link name="rudder_link">
      <pose>-0.887 0 0.201 0 0 -1.57</pose>
      <visual name="visual_rudder_link">
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/rudder.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="collision_rudder_link">
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/rudder.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <inertial>p
        <pose>3.0720176589210631e-09 -0.014597633583934367 -0.00023793299837082617 -0.00096325055376496349 0 0</pose>
        <mass>0.08686124232617691</mass>
        <inertia>
          <ixx>0.00029239473616759126</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00028035840542611708</iyy>
          <iyz>0</iyz>
          <izz>1.2453403617197103e-05</izz>
        </inertia>
      </inertial>
    </link>
    <joint name="servo_3" type="revolute">
      <parent>base_link</parent>
      <child>rudder_link</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-0.53</lower>
          <upper>0.53</upper>
        </limit>
        <dynamics>
          <damping>1.000</damping>
        </dynamics>
      </axis>
    </joint>
    <link name="rotor_3">
      <gravity>true</gravity>
      <self_collide>false</self_collide>
      <velocity_decay/>
      <pose>-0.403 -0.427 0.083 0 0 -1.57</pose>
      <inertial>
          <mass>0.016076923076923075</mass>
          <inertia>
            <ixx>3.8464910483993325e-07</ixx>
            <iyy>2.6115851691700804e-05</iyy>
            <izz>2.649858234714004e-05</izz>
          </inertia>
        </inertial>
      <visual name="rotor_3_visual">
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/propeller_ccw.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="rotor_3_collision">
        <geometry>
          <box>
            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode>
              <min_depth>0.001</min_depth>
              <max_vel>0</max_vel>
            </ode>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
    </link>
    <joint name="rotor_0_joint" type="revolute">
      <parent>base_link</parent>
      <child>rotor_0</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name="rotor_2">
      <gravity>true</gravity>
      <self_collide>false</self_collide>
      <velocity_decay/>
      <pose>0.403 0.427 0.083 0 0 -1.57</pose>
      <inertial>
          <mass>0.016076923076923075</mass>
          <inertia>
            <ixx>3.8464910483993325e-07</ixx>
            <iyy>2.6115851691700804e-05</iyy>
            <izz>2.649858234714004e-05</izz>
          </inertia>
        </inertial>
      <visual name="rotor_2_visual">
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/propeller_ccw.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="rotor_2_collision">
        <geometry>
          <box>
            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode>
              <min_depth>0.001</min_depth>
              <max_vel>0</max_vel>
            </ode>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
    </link>
    <joint name="rotor_1_joint" type="revolute">
      <parent>base_link</parent>
      <child>rotor_1</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name="rotor_0">
      <gravity>true</gravity>
      <self_collide>false</self_collide>
      <velocity_decay/>
      <pose>0.403 -0.427 0.083 0 0 -1.57</pose>
      <inertial>
          <mass>0.016076923076923075</mass>
          <inertia>
            <ixx>3.8464910483993325e-07</ixx>
            <iyy>2.6115851691700804e-05</iyy>
            <izz>2.649858234714004e-05</izz>
          </inertia>
        </inertial>
      <visual name="rotor_0_visual">
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/propeller_cw.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="rotor_0_collision">
        <geometry>
          <box>
            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode>
              <min_depth>0.001</min_depth>
              <max_vel>0</max_vel>
            </ode>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
    </link>
    <joint name="rotor_2_joint" type="revolute">
      <parent>base_link</parent>
      <child>rotor_2</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name="rotor_1">
      <gravity>true</gravity>
      <self_collide>false</self_collide>
      <velocity_decay/>
      <pose>-0.403 0.427 0.083 0 0 -1.57</pose>
      <inertial>
          <mass>0.016076923076923075</mass>
          <inertia>
            <ixx>3.8464910483993325e-07</ixx>
            <iyy>2.6115851691700804e-05</iyy>
            <izz>2.649858234714004e-05</izz>
          </inertia>
        </inertial>
      <visual name="rotor_1_visual">
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/propeller_cw.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="rotor_1_collision">
        <geometry>
          <box>
            <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode>
              <min_depth>0.001</min_depth>
              <max_vel>0</max_vel>
            </ode>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
    </link>
    <joint name="rotor_3_joint" type="revolute">
      <parent>base_link</parent>
      <child>rotor_3</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='rotor_puller'>
      <pose>0.379 0.0 0.0 -1.57 1.57 -1.57</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.005</mass>
        <inertia>
          <ixx>9.75e-07</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000166704</iyy>
          <iyz>0</iyz>
          <izz>0.000167604</izz>
        </inertia>
      </inertial>
      <collision name='rotor_puller_collision'>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.06</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='rotor_puller_visual'>
        <geometry>
          <mesh>
            <uri>model://foxtech_loong_2160/meshes/propeller_cw.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>
    <joint name='rotor_puller_joint' type='revolute'>
      <pose>0.0 0 0.0 0 -1.57 0</pose>
      <child>rotor_puller</child>
      <parent>base_link</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>

    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_0_joint</jointName>
      <linkName>rotor_0</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1500</maxRotVelocity>
      <motorConstant>2e-05</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>command/motor_speed</commandSubTopic>
      <motorNumber>0</motorNumber>
      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
      <motorType>velocity</motorType>
    </plugin>
    <!-- <plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'> -->
    <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_1_joint</jointName>
      <linkName>rotor_1</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1500</maxRotVelocity>
      <motorConstant>2e-05</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>command/motor_speed</commandSubTopic>
      <motorNumber>1</motorNumber>
      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
      <motorType>velocity</motorType>
    </plugin>
    <plugin
      filename="gz-sim-multicopter-motor-model-system"
      name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_2_joint</jointName>
      <linkName>rotor_2</linkName>
      <turningDirection>cw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1500</maxRotVelocity>
      <motorConstant>2e-05</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>command/motor_speed</commandSubTopic>
      <motorNumber>2</motorNumber>
      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
      <motorType>velocity</motorType>
    </plugin>
    <plugin
      filename="gz-sim-multicopter-motor-model-system"
      name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_3_joint</jointName>
      <linkName>rotor_3</linkName>
      <turningDirection>cw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1500</maxRotVelocity>
      <motorConstant>2e-05</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>command/motor_speed</commandSubTopic>
      <motorNumber>3</motorNumber>
      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
      <motorType>velocity</motorType>
    </plugin>
    <plugin
      filename="gz-sim-multicopter-motor-model-system"
      name="gz::sim::systems::MulticopterMotorModel">
      <jointName>rotor_puller_joint</jointName>
      <linkName>rotor_puller</linkName>
      <turningDirection>cw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>3500</maxRotVelocity>
      <motorConstant>8.54858e-06</motorConstant>
      <momentConstant>0.01</momentConstant>
      <commandSubTopic>command/motor_speed</commandSubTopic>
      <motorNumber>4</motorNumber>
      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
      <motorType>velocity</motorType>
    </plugin>
    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
      <a0>0.05984281113</a0>
      <cla>4.752798721</cla>
      <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>
      <cma_stall>0</cma_stall>
      <cp>-0.05 0.45 0.05</cp>
      <area>0.6</area>
      <air_density>1.2041</air_density>
      <forward>1 0 0</forward>
      <upward>0 0 1</upward>
      <link_name>base_link</link_name>
      <control_joint_name>servo_0</control_joint_name>
      <control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl>
    </plugin>
    <plugin
      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
      <joint_name>servo_0</joint_name>
      <sub_topic>servo_0</sub_topic>
      <p_gain>10.0</p_gain>
    </plugin>
    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
      <a0>0.05984281113</a0>
      <cla>4.752798721</cla>
      <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>
      <cma_stall>0</cma_stall>
      <cp>-0.05 -0.45 0.05</cp>
      <area>0.6</area>
      <air_density>1.2041</air_density>
      <forward>1 0 0</forward>
      <upward>0 0 1</upward>
      <link_name>base_link</link_name>
      <control_joint_name>servo_1</control_joint_name>
      <control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl>
    </plugin>
    <plugin
      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
      <joint_name>servo_1</joint_name>
      <sub_topic>servo_1</sub_topic>
      <p_gain>10.0</p_gain>
    </plugin>
    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
      <a0>-0.2</a0>
      <cla>4.752798721</cla>
      <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>
      <cma_stall>0</cma_stall>
      <cp>-0.5 0 0</cp>
      <area>0.01</area>
      <air_density>1.2041</air_density>
      <forward>1 0 0</forward>
      <upward>0 0 1</upward>
      <link_name>base_link</link_name>
      <control_joint_name>servo_2</control_joint_name>
      <control_joint_rad_to_cl>-4.0</control_joint_rad_to_cl>
    </plugin>
    <plugin
      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
      <joint_name>servo_2</joint_name>
      <sub_topic>servo_2</sub_topic>
      <p_gain>10.0</p_gain>
    </plugin>
    <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
      <a0>0.0</a0>
      <cla>4.752798721</cla>
      <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>
      <cma_stall>0</cma_stall>
      <cp>-0.5 0 0.05</cp>
      <area>0.02</area>
      <air_density>1.2041</air_density>
      <forward>1 0 0</forward>
      <upward>0 1 0</upward>
      <link_name>base_link</link_name>
      <control_joint_name>servo_3</control_joint_name>
      <control_joint_rad_to_cl>0.8</control_joint_rad_to_cl>
    </plugin>
    <plugin
      filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
      <joint_name>servo_3</joint_name>
      <sub_topic>servo_3</sub_topic>
      <p_gain>10.0</p_gain>
    </plugin>
  </model>
</sdf>