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Zephyr: copies of zephyr models for testing
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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‎models/zephyr_with_ardupilot_1/model.config‎

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<?xml version="1.0"?>
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<model>
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<name>Zephyr Delta Wing With Ardupilot 1</name>
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<version>2.0</version>
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<sdf version="1.9">model.sdf</sdf>
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<author>
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<name>Cole Biesemeyer</name>
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<email>cole.bsmr@gmail.com</email>
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</author>
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<author>
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<name>Nate Koenig</name>
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<email>natekoenig@gmail.com</email>
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</author>
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<description>
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A model of a Zephyr delta wing with Ardupilot integration.
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</description>
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</model>

‎models/zephyr_with_ardupilot_1/model.sdf‎

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<?xml version="1.0" ?>
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<sdf version="1.9">
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<model name="zephyr_with_ardupilot_1">
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<include>
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<uri>model://zephyr</uri>
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</include>
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<!-- plugins -->
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<plugin filename="gz-sim-joint-state-publisher-system"
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name="gz::sim::systems::JointStatePublisher">
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</plugin>
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<!-- wing -->
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.13</a0>
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<cla>3.7</cla>
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<cda>0.06417112299</cda>
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<cma>0.0</cma>
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<alpha_stall>0.3391428111</alpha_stall>
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<cla_stall>-3.85</cla_stall>
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<cda_stall>-0.9233984055</cda_stall>
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<cma_stall>0.0</cma_stall>
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<cp>0 -0.1 0</cp>
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<area>0.50</area>
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<air_density>1.2041</air_density>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>zephyr::wing</link_name>
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</plugin>
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<!-- left_wing -->
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.15</a0>
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<cla>6.8</cla>
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<cda>0.06417112299</cda>
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<cma>0.0</cma>
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<alpha_stall>0.6391428111</alpha_stall>
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<cla_stall>-3.85</cla_stall>
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<cda_stall>-0.9233984055</cda_stall>
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<cma_stall>0.0</cma_stall>
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<cp>0.7 0.20 0</cp>
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<area>0.10</area>
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<air_density>1.2041</air_density>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>zephyr::wing</link_name>
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<control_joint_name>zephyr::flap_left_joint</control_joint_name>
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<control_joint_rad_to_cl>-5.0</control_joint_rad_to_cl>
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</plugin>
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<!-- right_wing -->
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.15</a0>
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<cla>6.8</cla>
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<cda>0.06417112299</cda>
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<cma>0.0</cma>
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<alpha_stall>0.6391428111</alpha_stall>
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<cla_stall>-3.85</cla_stall>
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<cda_stall>-0.9233984055</cda_stall>
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<cma_stall>0.0</cma_stall>
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<cp>-0.7 0.20 0</cp>
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<area>0.10</area>
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<air_density>1.2041</air_density>
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<forward>0 -1 0</forward>
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<upward>0 0 1</upward>
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<link_name>zephyr::wing</link_name>
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<control_joint_name>zephyr::flap_right_joint</control_joint_name>
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<control_joint_rad_to_cl>-5.0</control_joint_rad_to_cl>
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</plugin>
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<!-- left_rudder -->
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.0</a0>
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<cla>4.752798721</cla>
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<cda>0.6417112299</cda>
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<cma>0.0</cma>
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<alpha_stall>0.3391428111</alpha_stall>
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<cla_stall>-3.85</cla_stall>
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<cda_stall>-0.9233984055</cda_stall>
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<cma_stall>0.0</cma_stall>
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<cp>-0.76 0.30 0.025</cp>
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<area>0.12</area>
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<air_density>1.2041</air_density>
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<forward>0 -1 0</forward>
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<upward>1 0 0</upward>
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<link_name>zephyr::wing</link_name>
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</plugin>
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<!-- right_rudder -->
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.0</a0>
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<cla>4.752798721</cla>
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<cda>0.6417112299</cda>
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<cma>0.0</cma>
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<alpha_stall>0.3391428111</alpha_stall>
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<cla_stall>-3.85</cla_stall>
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<cda_stall>-0.9233984055</cda_stall>
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<cma_stall>0.0</cma_stall>
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<cp>0.76 0.30 0.025</cp>
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<area>0.12</area>
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<air_density>1.2041</air_density>
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<forward>0 -1 0</forward>
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<upward>1 0 0</upward>
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<link_name>zephyr::wing</link_name>
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</plugin>
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<!-- propeller_blade_1 -->
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.30</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.0</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.02</area>
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<air_density>1.2041</air_density>
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<cp>0 0 0.074205</cp>
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<forward>-1 0 0</forward>
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<upward>0 -1 0</upward>
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<link_name>zephyr::propeller</link_name>
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</plugin>
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<!-- propeller_blade_2 -->
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<plugin filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<a0>0.30</a0>
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<alpha_stall>1.4</alpha_stall>
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<cla>4.2500</cla>
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<cda>0.10</cda>
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<cma>0.0</cma>
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<cla_stall>-0.025</cla_stall>
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<cda_stall>0.0</cda_stall>
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<cma_stall>0.0</cma_stall>
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<area>0.02</area>
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<air_density>1.2041</air_density>
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<cp>0 0 -0.074205</cp>
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<forward>1 0 0</forward>
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<upward>0 -1 0</upward>
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<link_name>zephyr::propeller</link_name>
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</plugin>
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<plugin filename="gz-sim-apply-joint-force-system"
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name="gz::sim::systems::ApplyJointForce">
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<joint_name>zephyr::propeller_joint</joint_name>
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</plugin>
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<plugin filename="gz-sim-apply-joint-force-system"
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name="gz::sim::systems::ApplyJointForce">
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<joint_name>zephyr::flap_left_joint</joint_name>
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</plugin>
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<plugin filename="gz-sim-apply-joint-force-system"
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name="gz::sim::systems::ApplyJointForce">
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<joint_name>zephyr::flap_right_joint</joint_name>
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</plugin>
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<plugin name="ArduPilotPlugin" filename="ArduPilotPlugin">
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<!-- Port settings -->
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<fdm_addr>127.0.0.1</fdm_addr>
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<fdm_port_in>9002</fdm_port_in>
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<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
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<lock_step>1</lock_step>
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<!-- Frame conventions
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modelXYZToAirplaneXForwardZDown:
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- transforms body frame from orientation in Gazebo to NED
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gazeboXYZToNED
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- transforms world from Gazebo convention xyz = N -E -D
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to ArduPilot convention xyz = NED
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Zephyr is oriented x-left, y-back, z-up
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-->
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<modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 -90</modelXYZToAirplaneXForwardZDown>
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<gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
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<!-- Sensors -->
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<imuName>zephyr::imu_link::imu_sensor</imuName>
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<!--
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incoming control command [0, 1]
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so offset it by 0 to get [0, 1]
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and divide max target by 1.
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offset = 0
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multiplier = 838 max rpm / 1 = 838
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-->
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<!--
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SERVO3_FUNCTION 70 (Throttle)
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SERVO3_MAX 1900
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SERVO3_MIN 1100
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SERVO3_REVERSED 0
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SERVO3_TRIM 1100
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-->
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<control channel="2">
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<jointName>zephyr::propeller_joint</jointName>
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<useForce>1</useForce>
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<multiplier>838</multiplier>
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<offset>0</offset>
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<servo_min>1100</servo_min>
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<servo_max>1900</servo_max>
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<type>VELOCITY</type>
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<p_gain>0.20</p_gain>
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<i_gain>0</i_gain>
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<d_gain>0</d_gain>
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<i_max>0</i_max>
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<i_min>0</i_min>
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<cmd_max>2.5</cmd_max>
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<cmd_min>0.0</cmd_min>
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</control>
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<!--
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SERVO1_FUNCTION 77 (Elevon Left)
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SERVO1_MAX 1900
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SERVO1_MIN 1100
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SERVO1_REVERSED 1
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SERVO1_TRIM 1500
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pwm: => [1100, 1900]
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input: => [0, 1]
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offset: -0.5 => [-0.5, 0.5]
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scale: 2.0 => [-1.0, 1.0]
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scale: 0.524 => [-0.524, 0.524]
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-->
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<control channel="0">
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<jointName>zephyr::flap_left_joint</jointName>
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<useForce>1</useForce>
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<multiplier>-1.048</multiplier>
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<offset>-0.5</offset>
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<servo_min>1100</servo_min>
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<servo_max>1900</servo_max>
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<type>POSITION</type>
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<p_gain>10.0</p_gain>
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<i_gain>0</i_gain>
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<d_gain>0</d_gain>
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<i_max>0</i_max>
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<i_min>0</i_min>
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<cmd_max>2.5</cmd_max>
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<cmd_min>-2.5</cmd_min>
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</control>
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<!--
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SERVO2_FUNCTION 78 (Elevon Right)
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SERVO2_MAX 1900
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SERVO2_MIN 1100
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SERVO2_REVERSED 1
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SERVO2_TRIM 1500
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-->
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<control channel="1">
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<jointName>zephyr::flap_right_joint</jointName>
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<useForce>1</useForce>
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<multiplier>-1.048</multiplier>
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<offset>-0.5</offset>
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<servo_min>1100</servo_min>
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<servo_max>1900</servo_max>
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<type>POSITION</type>
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<p_gain>10.0</p_gain>
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<i_gain>0</i_gain>
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<d_gain>0</d_gain>
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<i_max>0</i_max>
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<i_min>0</i_min>
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<cmd_max>2.5</cmd_max>
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<cmd_min>-2.5</cmd_min>
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</control>
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</plugin>
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</model>
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</sdf>

‎models/zephyr_with_ardupilot_10/model.config‎

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<?xml version="1.0"?>
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<model>
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<name>Zephyr Delta Wing With Ardupilot 10</name>
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<version>2.0</version>
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<sdf version="1.9">model.sdf</sdf>
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<author>
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<name>Cole Biesemeyer</name>
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<email>cole.bsmr@gmail.com</email>
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</author>
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<author>
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<name>Nate Koenig</name>
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<email>natekoenig@gmail.com</email>
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</author>
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<description>
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A model of a Zephyr delta wing with Ardupilot integration.
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</description>
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</model>

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