mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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142e44c418
Moves paths for advanced plane files from personal directory (frede791) to PX4 directory on fuel. Signed-off-by: frederik <frederik@auterion.com>
579 lines
17 KiB
XML
579 lines
17 KiB
XML
<?xml version="1.0"?>
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<sdf version='1.5'>
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<model name='plane'>
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<pose>0 0 0.246 0 0 0</pose>
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<link name='base_link'>
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<pose>0 0 0 0 0 0</pose>
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>1</mass>
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<inertia>
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<ixx>0.197563</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.1458929</iyy>
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<iyz>0</iyz>
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<izz>0.1477</izz>
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</inertia>
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</inertial>
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<collision name='base_link_collision'>
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<pose>0 0 -0.07 0 0 0</pose>
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<geometry>
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<box>
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<size>0.47 0.47 0.11</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode>
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<max_vel>10</max_vel>
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<min_depth>0.01</min_depth>
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</ode>
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</contact>
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<friction>
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<ode/>
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</friction>
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</surface>
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</collision>
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<visual name='base_link_visual'>
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<pose>0.07 0 -0.08 0 0 0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>https://fuel.gazebosim.org/1.0/PX4/models/Advanced%20Plane/tip/files/meshes/body.dae</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>.175 .175 .175 1.0</ambient>
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<diffuse>.175 .175 .175 1.0</diffuse>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay/>
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<self_collide>0</self_collide>
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<sensor name="imu_sensor" type="imu">
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<always_on>1</always_on>
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<update_rate>250</update_rate>
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</sensor>
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<sensor name="air_pressure_sensor" type="air_pressure">
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<always_on>1</always_on>
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<update_rate>50</update_rate>
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<air_pressure>
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<pressure>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.01</stddev>
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</noise>
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</pressure>
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</air_pressure>
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</sensor>
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</link>
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<link name='rotor_puller'>
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<pose>0.3 0 0.0 0 1.57 0</pose>
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>0.005</mass>
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<inertia>
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<ixx>9.75e-07</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.000166704</iyy>
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<iyz>0</iyz>
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<izz>0.000167604</izz>
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</inertia>
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</inertial>
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<collision name='rotor_puller_collision'>
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<pose>0.0 0 0.0 0 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.005</length>
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<radius>0.1</radius>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode/>
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</contact>
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<friction>
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<ode/>
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</friction>
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</surface>
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</collision>
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<visual name='rotor_puller_visual'>
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<pose>0 0 -0.09 0 0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>https://fuel.gazebosim.org/1.0/PX4/models/Advanced%20Plane/tip/files/meshes/iris_prop_ccw.dae</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>.175 .175 .175 1.0</ambient>
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<diffuse>.175 .175 .175 1.0</diffuse>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay/>
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<self_collide>0</self_collide>
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</link>
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<joint name='rotor_puller_joint' type='revolute'>
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<child>rotor_puller</child>
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<parent>base_link</parent>
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<axis>
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<xyz>1 0 0</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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<link name="left_elevon">
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<inertial>
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<mass>0.00000001</mass>
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<inertia>
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<ixx>0.000001</ixx>
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<ixy>0.0</ixy>
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<iyy>0.000001</iyy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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<izz>0.000001</izz>
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</inertia>
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<pose>0 0.3 0 0.00 0 0.0</pose>
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</inertial>
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<visual name='left_elevon_visual'>
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<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>https://fuel.gazebosim.org/1.0/PX4/models/Advanced%20Plane/tip/files/meshes/left_aileron.dae</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>1 0 0 1.0</ambient>
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<diffuse>1 0 0 1.0</diffuse>
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</material>
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</visual>
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</link>
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<link name="right_elevon">
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<inertial>
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<mass>0.00000001</mass>
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<inertia>
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<ixx>0.000001</ixx>
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<ixy>0.0</ixy>
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<iyy>0.000001</iyy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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<izz>0.000001</izz>
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</inertia>
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<pose>0 -0.3 0 0.00 0 0.0</pose>
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</inertial>
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<visual name='right_elevon_visual'>
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<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>https://fuel.gazebosim.org/1.0/PX4/models/Advanced%20Plane/tip/files/meshes/right_aileron.dae</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>1 0 0 1.0</ambient>
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<diffuse>1 0 0 1.0</diffuse>
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</material>
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</visual>
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</link>
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<link name="left_flap">
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<inertial>
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<mass>0.00000001</mass>
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<inertia>
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<ixx>0.000001</ixx>
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<ixy>0.0</ixy>
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<iyy>0.000001</iyy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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<izz>0.000001</izz>
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</inertia>
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<pose>0 0.15 0 0.00 0 0.0</pose>
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</inertial>
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<visual name='left_flap_visual'>
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<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>https://fuel.gazebosim.org/1.0/PX4/models/Advanced%20Plane/tip/files/meshes/left_flap.dae</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>1 0 0 1.0</ambient>
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<diffuse>1 0 0 1.0</diffuse>
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</material>
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</visual>
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</link>
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<link name="right_flap">
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<inertial>
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<mass>0.00000001</mass>
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<inertia>
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<ixx>0.000001</ixx>
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<ixy>0.0</ixy>
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<iyy>0.000001</iyy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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<izz>0.000001</izz>
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</inertia>
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<pose>0 -0.15 0 0.00 0 0.0</pose>
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</inertial>
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<visual name='right_flap_visual'>
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<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>https://fuel.gazebosim.org/1.0/PX4/models/Advanced%20Plane/tip/files/meshes/right_flap.dae</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>1 0 0 1.0</ambient>
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<diffuse>1 0 0 1.0</diffuse>
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</material>
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</visual>
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</link>
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<link name="elevator">
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<inertial>
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<mass>0.00000001</mass>
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<inertia>
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<ixx>0.000001</ixx>
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<ixy>0.0</ixy>
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<iyy>0.000001</iyy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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<izz>0.000001</izz>
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</inertia>
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<pose> -0.5 0 0 0.00 0 0.0</pose>
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</inertial>
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<visual name='elevator_visual'>
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<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>https://fuel.gazebosim.org/1.0/PX4/models/Advanced%20Plane/tip/files/meshes/elevators.dae</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>1 0 0 1.0</ambient>
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<diffuse>1 0 0 1.0</diffuse>
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</material>
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</visual>
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</link>
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<link name="rudder">
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<inertial>
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<mass>0.00000001</mass>
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<inertia>
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<ixx>0.000001</ixx>
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<ixy>0.0</ixy>
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<iyy>0.000001</iyy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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<izz>0.000001</izz>
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</inertia>
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<pose>-0.5 0 0.05 0 0 0 </pose>
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</inertial>
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<visual name='rudder_visual'>
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<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>https://fuel.gazebosim.org/1.0/PX4/models/Advanced%20Plane/tip/files/meshes/rudder.dae</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>1 0 0 1.0</ambient>
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<diffuse>1 0 0 1.0</diffuse>
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</material>
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</visual>
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</link>
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<joint name='servo_0' type='revolute'>
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<parent>base_link</parent>
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<child>left_elevon</child>
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<pose>-0.07 0.4 0.08 0.00 0 0.0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<!-- -30/+30 deg. -->
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<lower>-0.53</lower>
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<upper>0.53</upper>
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</limit>
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<dynamics>
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<damping>1.000</damping>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<plugin
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filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
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<joint_name>servo_0</joint_name>
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<sub_topic>servo_0</sub_topic>
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<p_gain>10</p_gain>
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<i_gain>0</i_gain>
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<d_gain>0</d_gain>
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</plugin>
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<joint name='servo_1' type='revolute'>
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<parent>base_link</parent>
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<child>right_elevon</child>
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<pose>-0.07 -0.4 0.08 0.00 0 0.0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<!-- -30/+30 deg. -->
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<lower>-0.53</lower>
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<upper>0.53</upper>
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</limit>
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<dynamics>
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<damping>1.000</damping>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<plugin
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filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
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<joint_name>servo_1</joint_name>
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<sub_topic>servo_1</sub_topic>
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<p_gain>10</p_gain>
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<i_gain>0</i_gain>
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<d_gain>0</d_gain>
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</plugin>
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<joint name='servo_4' type='revolute'>
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<parent>base_link</parent>
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<child>left_flap</child>
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<pose>-0.07 0.2 0.08 0.00 0 0.0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
|
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<!-- -30/+30 deg. -->
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|
<lower>-0.53</lower>
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<upper>0.53</upper>
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</limit>
|
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<dynamics>
|
|
<damping>1.000</damping>
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</dynamics>
|
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</axis>
|
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<physics>
|
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<ode>
|
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<plugin
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filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
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<joint_name>servo_4</joint_name>
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<sub_topic>servo_4</sub_topic>
|
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<p_gain>10</p_gain>
|
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<i_gain>0</i_gain>
|
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<d_gain>0</d_gain>
|
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</plugin>
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<joint name='servo_5' type='revolute'>
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<parent>base_link</parent>
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<child>right_flap</child>
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<pose>-0.07 -0.2 0.08 0.00 0 0.0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<!-- -30/+30 deg. -->
|
|
<lower>-0.53</lower>
|
|
<upper>0.53</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.000</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<plugin
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|
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
|
<joint_name>servo_5</joint_name>
|
|
<sub_topic>servo_5</sub_topic>
|
|
<p_gain>10</p_gain>
|
|
<i_gain>0</i_gain>
|
|
<d_gain>0</d_gain>
|
|
</plugin>
|
|
<joint name='servo_2' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>elevator</child>
|
|
<pose> -0.5 0 0 0 0 0</pose>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<!-- -30/+30 deg. -->
|
|
<lower>-0.53</lower>
|
|
<upper>0.53</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.000</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<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</p_gain>
|
|
<i_gain>0</i_gain>
|
|
<d_gain>0</d_gain>
|
|
</plugin>
|
|
<joint name='servo_3' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>rudder</child>
|
|
<pose>-0.5 0 0.05 0.00 0 0.0</pose>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<!-- -30/+30 deg. -->
|
|
<lower>-0.53</lower>
|
|
<upper>0.53</upper>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>1.000</damping>
|
|
</dynamics>
|
|
</axis>
|
|
<physics>
|
|
<ode>
|
|
<implicit_spring_damper>1</implicit_spring_damper>
|
|
</ode>
|
|
</physics>
|
|
</joint>
|
|
<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</p_gain>
|
|
<i_gain>0</i_gain>
|
|
<d_gain>0</d_gain>
|
|
</plugin>
|
|
|
|
<plugin filename="gz-sim-advanced-lift-drag-system" name="gz::sim::systems::AdvancedLiftDrag">
|
|
<a0>0.0</a0>
|
|
<CL0>0.15188</CL0>
|
|
<AR>6.5</AR>
|
|
<eff>0.97</eff>
|
|
<CLa>5.015</CLa>
|
|
<CD0>0.029</CD0>
|
|
<Cem0>0.075</Cem0>
|
|
<Cema>-0.463966</Cema>
|
|
<CYb>-0.258244</CYb>
|
|
<Cellb>-0.039250</Cellb>
|
|
<Cenb>0.100826</Cenb>
|
|
<CDp>0.0</CDp>
|
|
<CYp>0.065861</CYp>
|
|
<CLp>0.0</CLp>
|
|
<Cellp>-0.487407</Cellp>
|
|
<Cemp>0.0</Cemp>
|
|
<Cenp>-0.040416</Cenp>
|
|
<CDq>0.055166</CDq>
|
|
<CYq>0.0</CYq>
|
|
<CLq>7.971792</CLq>
|
|
<Cellq>0.0</Cellq>
|
|
<Cemq>-12.140140</Cemq>
|
|
<Cenq>0.0</Cenq>
|
|
<CDr>0.0</CDr>
|
|
<CYr>0.230299</CYr>
|
|
<CLr>0.0</CLr>
|
|
<Cellr>0.078165</Cellr>
|
|
<Cemr>0.0</Cemr>
|
|
<Cenr>-0.089947</Cenr>
|
|
<alpha_stall>0.3391428111</alpha_stall>
|
|
<CLa_stall>-3.85</CLa_stall>
|
|
<CDa_stall>-0.9233984055</CDa_stall>
|
|
<Cema_stall>0</Cema_stall>
|
|
<cp>-0.12 0.0 0.0</cp>
|
|
<area>0.34</area>
|
|
<mac>0.22</mac>
|
|
<air_density>1.2041</air_density>
|
|
<forward>1 0 0</forward>
|
|
<upward>0 0 1</upward>
|
|
<link_name>base_link</link_name>
|
|
<num_ctrl_surfaces>4</num_ctrl_surfaces>
|
|
<control_surface>
|
|
<name>servo_0</name>
|
|
<index>0</index>
|
|
<direction>1</direction>
|
|
<CD_ctrl>-0.000059</CD_ctrl>
|
|
<CY_ctrl>0.000171</CY_ctrl>
|
|
<CL_ctrl>-0.011940</CL_ctrl>
|
|
<Cell_ctrl>-0.003331</Cell_ctrl>
|
|
<Cem_ctrl>0.001498</Cem_ctrl>
|
|
<Cen_ctrl>-0.000057</Cen_ctrl>
|
|
</control_surface>
|
|
<control_surface>
|
|
<name>servo_1</name>
|
|
<direction>1</direction>
|
|
<index>1</index>
|
|
<CD_ctrl>-0.000059</CD_ctrl>
|
|
<CY_ctrl>-0.000171</CY_ctrl>
|
|
<CL_ctrl>-0.011940</CL_ctrl>
|
|
<Cell_ctrl>0.003331</Cell_ctrl>
|
|
<Cem_ctrl>0.001498</Cem_ctrl>
|
|
<Cen_ctrl>0.000057</Cen_ctrl>
|
|
</control_surface>
|
|
<control_surface>
|
|
<name>servo_2</name>
|
|
<direction>-1</direction>
|
|
<index>2</index>
|
|
<CD_ctrl>0.000274</CD_ctrl>
|
|
<CY_ctrl>0</CY_ctrl>
|
|
<CL_ctrl>0.010696</CL_ctrl>
|
|
<Cell_ctrl>0.0</Cell_ctrl>
|
|
<Cem_ctrl>-0.025798</Cem_ctrl>
|
|
<Cen_ctrl>0.0</Cen_ctrl>
|
|
</control_surface>
|
|
<control_surface>
|
|
<name>servo_3</name>
|
|
<direction>1</direction>
|
|
<index>3</index>
|
|
<CD_ctrl>0.0</CD_ctrl>
|
|
<CY_ctrl>-0.003913</CY_ctrl>
|
|
<CL_ctrl>0.0</CL_ctrl>
|
|
<Cell_ctrl>-0.000257</Cell_ctrl>
|
|
<Cem_ctrl>0.0</Cem_ctrl>
|
|
<Cen_ctrl>0.001613</Cen_ctrl>
|
|
</control_surface>
|
|
</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>0</motorNumber>
|
|
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
|
<motorType>velocity</motorType>
|
|
|
|
</plugin>
|
|
</model>
|
|
</sdf>
|