<?xml version="1.0"?>
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
<fdm_config name="QUAD COMPLETE EXT" version="2.0" release="BETA" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">

    <fileheader>
        <author> Gustavo Violato &amp; Antoine Drouin</author>
        <filecreationdate> 24-02-2009 </filecreationdate>
        <version> Version 0.9 - beta</version>
        <description> Simple Quadrotor without rotor dynamic </description>
    </fileheader>

    <metrics>
        <wingarea unit="IN2"> 78.53 </wingarea>
        <wingspan unit="IN"> 10 </wingspan>
        <chord unit="IN"> 6.89 </chord>
        <htailarea unit="FT2"> 0 </htailarea>
        <htailarm unit="FT"> 0 </htailarm>
        <vtailarea unit="FT2"> 0 </vtailarea>
        <vtailarm unit="FT"> 0 </vtailarm>
        <location name="AERORP" unit="IN">
            <x> 0 </x>
            <y> 0 </y>
            <z> 0 </z>
        </location>
        <location name="EYEPOINT" unit="IN">
            <x> 0 </x>
            <y> 0 </y>
            <z> 0 </z>
        </location>
        <location name="VRP" unit="IN">
            <x> 0 </x>
            <y> 0 </y>
            <z> 0 </z>
        </location>
    </metrics>

    <mass_balance>
        <ixx unit="SLUG*FT2"> 0.005 </ixx>
        <iyy unit="SLUG*FT2"> 0.005 </iyy>
        <izz unit="SLUG*FT2"> 0.010 </izz>
        <ixy unit="SLUG*FT2"> 0. </ixy>
        <ixz unit="SLUG*FT2"> 0. </ixz>
        <iyz unit="SLUG*FT2"> 0. </iyz>
        <emptywt unit="LBS"> 0.84 </emptywt>
        <location name="CG" unit="M">
            <x> 0 </x>
            <y> 0 </y>
            <z> 0 </z>
        </location>
    </mass_balance>

   <ground_reactions>
        <contact type="BOGEY" name="CONTACT_FRONT">
            <location unit="M">
                <x>-0.15 </x>
                <y> 0 </y>
                <z>-0.1 </z>
            </location>
            <static_friction>  0.8 </static_friction>
            <dynamic_friction> 0.5 </dynamic_friction>
            <rolling_friction> 0.2 </rolling_friction>
            <spring_coeff unit="N/M"> 50000 </spring_coeff>
            <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
            <spring_coeff_rebound unit="N/M"> 50000 </spring_coeff_rebound>
            <damping_coeff_rebound unit="N/M/SEC"> 100 </damping_coeff_rebound>
            <max_steer unit="DEG"> 0.0 </max_steer>
            <brake_group> NONE </brake_group>
            <retractable>0</retractable>
        </contact>
 
        <contact type="BOGEY" name="CONTACT_BACK">
            <location unit="M">
                <x> 0.15</x>
                <y> 0   </y>
                <z>-0.1 </z>
            </location>
            <static_friction>  0.8 </static_friction>
            <dynamic_friction> 0.5 </dynamic_friction>
            <rolling_friction> 0.2 </rolling_friction>
            <spring_coeff unit="N/M"> 50000 </spring_coeff>
            <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
            <spring_coeff_rebound unit="N/M"> 50000 </spring_coeff_rebound>
            <damping_coeff_rebound unit="N/M/SEC"> 100 </damping_coeff_rebound>
            <max_steer unit="DEG"> 0.0 </max_steer>
            <brake_group> NONE </brake_group>
            <retractable>0</retractable>
        </contact>

        <contact type="BOGEY" name="CONTACT_RIGHT">
            <location unit="M">
                <x> 0.  </x>
                <y> 0.15</y>
                <z>-0.1 </z>
            </location>
            <static_friction>  0.8 </static_friction>
            <dynamic_friction> 0.5 </dynamic_friction>
            <rolling_friction> 0.2 </rolling_friction>
            <spring_coeff unit="N/M"> 50000 </spring_coeff>
            <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
            <spring_coeff_rebound unit="N/M"> 50000 </spring_coeff_rebound>
            <damping_coeff_rebound unit="N/M/SEC"> 100 </damping_coeff_rebound>
            <max_steer unit="DEG"> 0.0 </max_steer>
            <brake_group> NONE </brake_group>
            <retractable>0</retractable>
        </contact>

        <contact type="BOGEY" name="CONTACT_LEFT">
            <location unit="M">
                <x> 0.  </x>
                <y>-0.15</y>
                <z>-0.1 </z>
            </location>
            <static_friction>  0.8 </static_friction>
            <dynamic_friction> 0.5 </dynamic_friction>
            <rolling_friction> 0.2 </rolling_friction>
            <spring_coeff unit="N/M"> 50000 </spring_coeff>
            <damping_coeff unit="N/M/SEC"> 100 </damping_coeff>
            <spring_coeff_rebound unit="N/M"> 50000 </spring_coeff_rebound>
            <damping_coeff_rebound unit="N/M/SEC"> 100 </damping_coeff_rebound>
            <max_steer unit="DEG"> 0.0 </max_steer>
            <brake_group> NONE </brake_group>
            <retractable>0</retractable>
        </contact>
    </ground_reactions>








    <external_reactions>

      <property>fcs/front_motor</property>
      <property>fcs/back_motor</property>
      <property>fcs/right_motor</property>
      <property>fcs/left_motor</property>

      <!-- First the lift forces produced by each propeller -->

      <force name="front_motor" frame="BODY" unit="LBS">
       <function>
        <product>
         <property>fcs/front_motor</property>
         <value> 0.84 </value>
        </product>
       </function>
       <location unit="IN">
        <x>-6.89</x>
        <y>0</y>
        <z>0</z>
       </location>
       <direction>
        <x>0</x>
        <y>0</y>
        <z>-1</z>
       </direction>
      </force>

      <force name="back_motor" frame="BODY" unit="LBS">
       <function>
        <product>
         <property>fcs/back_motor</property>
         <value> 0.84 </value>
        </product>
       </function>
       <location unit="IN">
        <x>6.89</x>
        <y>0</y>
        <z>0</z>
       </location>
       <direction>
        <x>0</x>
        <y>0</y>
        <z>-1</z>
       </direction>
      </force>

      <force name="right_motor" frame="BODY" unit="LBS">
       <function>
        <product>
         <property>fcs/right_motor</property>
         <value> 0.84 </value>
        </product>
       </function>
       <location unit="IN">
        <x>0</x>
        <y>6.89</y>
        <z>0</z>
       </location>
       <direction>
        <x>0</x>
        <y>0</y>
        <z>-1</z>
       </direction>
      </force>

      <force name="left_motor" frame="BODY" unit="LBS">
       <function>
        <product>
         <property>fcs/left_motor</property>
         <value> 0.84 </value>
        </product>
       </function>
       <location unit="IN">
        <x>0</x>
        <y>-6.89</y>
        <z>0</z>
       </location>
       <direction>
        <x>0</x>
        <y>0</y>
        <z>-1</z>
       </direction>
      </force>

    <!-- Then the Moment Couples -->

    <!-- Front Engine -->

    <force name="front_couple1" frame="BODY" unit="LBS">
     <function>
      <product>
       <property>fcs/front_motor</property>
       <value> 0.84 </value>
      </product>
     </function>
     <location unit="IN">
      <x>-6.89</x>
      <!-- Necessary arm in IN to produce a moment ten times
      "weaker" then the force when both are measured in the SI.
      front and back motors turning clockwise, left and right motors
      turning anti-clockwise when view from up-->
      <y>1.9685</y>
      <z>0</z>
     </location>
     <direction>
      <x>1</x>
      <y>0</y>
      <z>0</z>
     </direction>
    </force>
  
    <force name="front_couple2" frame="BODY" unit="LBS">
     <function>
      <product>
       <property>fcs/front_motor</property>
       <value> 0.84 </value>
      </product>
     </function>
     <location unit="IN">
      <x>-6.89</x>
      <y>-1.9685</y>
      <z>0</z>
     </location>
     <direction>
      <x>-1</x>
      <y>0</y>
      <z>0</z>
     </direction>
    </force>

    <!-- Back Engine -->

    <force name="back_couple1" frame="BODY" unit="LBS">
     <function>
      <product>
       <property>fcs/back_motor</property>
       <value> 0.84 </value>
      </product>
     </function>
     <location unit="IN">
      <x>6.89</x>
      <y>1.9685</y>
      <z>0</z>
     </location>
     <direction>
      <x>1</x>
      <y>0</y>
      <z>0</z>
     </direction>
    </force>
  
    <force name="back_couple2" frame="BODY" unit="LBS">
     <function>
      <product>
       <property>fcs/back_motor</property>
       <value> 0.84 </value>
      </product>
     </function>
     <location unit="IN">
      <x>6.89</x>
      <y>-1.9685</y>
      <z>0</z>
     </location>
     <direction>
      <x>-1</x>
      <y>0</y>
      <z>0</z>
     </direction>
    </force>

    <!-- Right Engine -->

    <force name="right_couple1" frame="BODY" unit="LBS">
     <function>
      <product>
       <property>fcs/right_motor</property>
       <value> 0.84 </value>
      </product>
     </function>
     <location unit="IN">
      <x>-1.9685</x>
      <y>6.89</y>
      <z>0</z>
     </location>
     <direction>
      <x>0</x>
      <y>1</y>
      <z>0</z>
     </direction>
    </force>
  
    <force name="right_couple2" frame="BODY" unit="LBS">
     <function>
      <product>
       <property>fcs/right_motor</property>
       <value> 0.84 </value>
      </product>
     </function>
     <location unit="IN">
      <x>1.9685</x>
      <y>6.89</y>
      <z>0</z>
     </location>
     <direction>
      <x>0</x>
      <y>-1</y>
      <z>0</z>
     </direction>
    </force>

    <!-- Left Engine -->

    <force name="left_couple1" frame="BODY" unit="LBS">
     <function>
      <product>
       <property>fcs/left_motor</property>
       <value> 0.84 </value>
      </product>
     </function>
     <location unit="IN">
      <x>-1.9685</x>
      <y>-6.89</y>
      <z>0</z>
     </location>
     <direction>
      <x>0</x>
      <y>1</y>
      <z>0</z>
     </direction>
    </force>
  
    <force name="left_couple2" frame="BODY" unit="LBS">
     <function>
      <product>
       <property>fcs/left_motor</property>
       <value> 0.84 </value>
      </product>
     </function>
     <location unit="IN">
      <x>1.9685</x>
      <y>-6.89</y>
      <z>0</z>
     </location>
     <direction>
      <x>0</x>
      <y>-1</y>
      <z>0</z>
     </direction>
    </force>

    </external_reactions> 

    <propulsion/>

    <flight_control name="FGFCS"/>

    <aerodynamics>
        <axis name="DRAG">
            <function name="aero/coefficient/CD">
                <description>Drag</description>
                <product>
                    <property>aero/qbar-psf</property>
                    <value>47.9</value> <!-- Conversion to pascals -->
                    <value>0.0151</value> <!-- CD x Area (m^2) -->
                    <value>0.224808943</value> <!-- N to LBS -->
                </product>
            </function>
        </axis>
    </aerodynamics>

</fdm_config>