DroneControl/iq_sim/models/drone4/model.sdf

<?xml version='1.0'?>
<sdf version="1.6" >
  <model name="iris_demo">
    <include>
      <uri>model://iris_base</uri>
    </include>

    <!-- plugins -->
    <plugin name="rotor_0_blade_1" filename="libLiftDragPlugin.so">
      <a0>0.3</a0>
      <alpha_stall>1.4</alpha_stall>
      <cla>4.2500</cla>
      <cda>0.10</cda>
      <cma>0.00</cma>
      <cla_stall>-0.025</cla_stall>
      <cda_stall>0.0</cda_stall>
      <cma_stall>0.0</cma_stall>
      <area>0.002</area>
      <air_density>1.2041</air_density>
      <cp>0.084 0 0</cp>
      <forward>0 1 0</forward>
      <upward>0 0 1</upward>
      <link_name>iris::rotor_0</link_name>
    </plugin>
    <plugin name="rotor_0_blade_2" filename="libLiftDragPlugin.so">
      <a0>0.3</a0>
      <alpha_stall>1.4</alpha_stall>
      <cla>4.2500</cla>
      <cda>0.10</cda>
      <cma>0.00</cma>
      <cla_stall>-0.025</cla_stall>
      <cda_stall>0.0</cda_stall>
      <cma_stall>0.0</cma_stall>
      <area>0.002</area>
      <air_density>1.2041</air_density>
      <cp>-0.084 0 0</cp>
      <forward>0 -1 0</forward>
      <upward>0 0 1</upward>
      <link_name>iris::rotor_0</link_name>
    </plugin>

    <plugin name="rotor_1_blade_1" filename="libLiftDragPlugin.so">
      <a0>0.3</a0>
      <alpha_stall>1.4</alpha_stall>
      <cla>4.2500</cla>
      <cda>0.10</cda>
      <cma>0.00</cma>
      <cla_stall>-0.025</cla_stall>
      <cda_stall>0.0</cda_stall>
      <cma_stall>0.0</cma_stall>
      <area>0.002</area>
      <air_density>1.2041</air_density>
      <cp>0.084 0 0</cp>
      <forward>0 1 0</forward>
      <upward>0 0 1</upward>
      <link_name>iris::rotor_1</link_name>
    </plugin>
    <plugin name="rotor_1_blade_2" filename="libLiftDragPlugin.so">
      <a0>0.3</a0>
      <alpha_stall>1.4</alpha_stall>
      <cla>4.2500</cla>
      <cda>0.10</cda>
      <cma>0.00</cma>
      <cla_stall>-0.025</cla_stall>
      <cda_stall>0.0</cda_stall>
      <cma_stall>0.0</cma_stall>
      <area>0.002</area>
      <air_density>1.2041</air_density>
      <cp>-0.084 0 0</cp>
      <forward>0 -1 0</forward>
      <upward>0 0 1</upward>
      <link_name>iris::rotor_1</link_name>
    </plugin>

    <plugin name="rotor_2_blade_1" filename="libLiftDragPlugin.so">
      <a0>0.3</a0>
      <alpha_stall>1.4</alpha_stall>
      <cla>4.2500</cla>
      <cda>0.10</cda>
      <cma>0.00</cma>
      <cla_stall>-0.025</cla_stall>
      <cda_stall>0.0</cda_stall>
      <cma_stall>0.0</cma_stall>
      <area>0.002</area>
      <air_density>1.2041</air_density>
      <cp>0.084 0 0</cp>
      <forward>0 -1 0</forward>
      <upward>0 0 1</upward>
      <link_name>iris::rotor_2</link_name>
    </plugin>
    <plugin name="rotor_2_blade_2" filename="libLiftDragPlugin.so">
      <a0>0.3</a0>
      <alpha_stall>1.4</alpha_stall>
      <cla>4.2500</cla>
      <cda>0.10</cda>
      <cma>0.00</cma>
      <cla_stall>-0.025</cla_stall>
      <cda_stall>0.0</cda_stall>
      <cma_stall>0.0</cma_stall>
      <area>0.002</area>
      <air_density>1.2041</air_density>
      <cp>-0.084 0 0</cp>
      <forward>0 1 0</forward>
      <upward>0 0 1</upward>
      <link_name>iris::rotor_2</link_name>
    </plugin>

    <plugin name="rotor_3_blade_1" filename="libLiftDragPlugin.so">
      <a0>0.3</a0>
      <alpha_stall>1.4</alpha_stall>
      <cla>4.2500</cla>
      <cda>0.10</cda>
      <cma>0.00</cma>
      <cla_stall>-0.025</cla_stall>
      <cda_stall>0.0</cda_stall>
      <cma_stall>0.0</cma_stall>
      <area>0.002</area>
      <air_density>1.2041</air_density>
      <cp>0.084 0 0</cp>
      <forward>0 -1 0</forward>
      <upward>0 0 1</upward>
      <link_name>iris::rotor_3</link_name>
    </plugin>
    <plugin name="rotor_3_blade_2" filename="libLiftDragPlugin.so">
      <a0>0.3</a0>
      <alpha_stall>1.4</alpha_stall>
      <cla>4.2500</cla>
      <cda>0.10</cda>
      <cma>0.00</cma>
      <cla_stall>-0.025</cla_stall>
      <cda_stall>0.0</cda_stall>
      <cma_stall>0.0</cma_stall>
      <area>0.002</area>
      <air_density>1.2041</air_density>
      <cp>-0.084 0 0</cp>
      <forward>0 1 0</forward>
      <upward>0 0 1</upward>
      <link_name>iris::rotor_3</link_name>
    </plugin>
    <plugin name="arducopter_plugin" filename="libArduPilotPlugin.so">
      <fdm_addr>127.0.0.1</fdm_addr>
      <fdm_port_in>9032</fdm_port_in>
      <fdm_port_out>9033</fdm_port_out>
      <!--
          Require by APM :
          Only change model and gazebo from XYZ to XY-Z coordinates
      -->
      <modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
      <gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
      <imuName>iris::iris/imu_link::imu_sensor</imuName>
      <connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
      <control channel="0">
      <!--
          incoming control command [0, 1]
          so offset it by 0 to get [0, 1]
          and divide max target by 1.
          offset = 0
          multiplier = 838 max rpm / 1 = 838
        -->
        <type>VELOCITY</type>
        <offset>0</offset>
        <p_gain>0.20</p_gain>
        <i_gain>0</i_gain>
        <d_gain>0</d_gain>
        <i_max>0</i_max>
        <i_min>0</i_min>
        <cmd_max>2.5</cmd_max>
        <cmd_min>-2.5</cmd_min>
        <jointName>iris::rotor_0_joint</jointName>
        <multiplier>838</multiplier>
        <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
      </control>
      <control channel="1">
        <type>VELOCITY</type>
        <offset>0</offset>
        <p_gain>0.20</p_gain>
        <i_gain>0</i_gain>
        <d_gain>0</d_gain>
        <i_max>0</i_max>
        <i_min>0</i_min>
        <cmd_max>2.5</cmd_max>
        <cmd_min>-2.5</cmd_min>
        <jointName>iris::rotor_1_joint</jointName>
        <multiplier>838</multiplier>
        <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
      </control>
      <control channel="2">
        <type>VELOCITY</type>
        <offset>0</offset>
        <p_gain>0.20</p_gain>
        <i_gain>0</i_gain>
        <d_gain>0</d_gain>
        <i_max>0</i_max>
        <i_min>0</i_min>
        <cmd_max>2.5</cmd_max>
        <cmd_min>-2.5</cmd_min>
        <jointName>iris::rotor_2_joint</jointName>
        <multiplier>-838</multiplier>
        <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
      </control>
      <control channel="3">
        <type>VELOCITY</type>
        <offset>0</offset>
        <p_gain>0.20</p_gain>
        <i_gain>0</i_gain>
        <d_gain>0</d_gain>
        <i_max>0</i_max>
        <i_min>0</i_min>
        <cmd_max>2.5</cmd_max>
        <cmd_min>-2.5</cmd_min>
        <jointName>iris::rotor_3_joint</jointName>
        <multiplier>-838</multiplier>
        <controlVelocitySlowdownSim>1</controlVelocitySlowdownSim>
      </control>
    </plugin>

  </model>
</sdf>