641 lines
22 KiB
XML
641 lines
22 KiB
XML
<?xml-stylesheet href="JSBSim.xsl" type="application/xml"?>
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<fdm_config xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd" name="SenecaII"
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version="2.0" release="BETA">
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<fileheader>
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<author>Torsten Dreyer, Gijs de Rooy, Sidi Liang</author>
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<filecreationdate>2010-08-24</filecreationdate>
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<version>0.1</version>
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<description>A follow me car</description>
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</fileheader>
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<metrics>
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<wingarea unit="M2">1</wingarea>
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<wingspan unit="M">1.6</wingspan>
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<chord unit="M">2</chord>
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<htailarea unit="M2">1</htailarea>
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<htailarm unit="M">1</htailarm>
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<vtailarea unit="M2">1</vtailarea>
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<vtailarm unit="M">1</vtailarm>
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<location name="AERORP" unit="M">
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<x>0</x>
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<y>0</y>
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<z>1.20</z>
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</location>
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<location name="EYEPOINT" unit="M">
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<x>1.5 </x>
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<y>0.33 </y>
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<z>1.20</z>
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</location>
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<location name="VRP" unit="M">
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<x> 0.0 </x>
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<y> 0.0 </y>
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<z> 0.0 </z>
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</location>
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</metrics>
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<mass_balance>
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<ixx unit="SLUG*FT2"> 5596 </ixx>
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<iyy unit="SLUG*FT2"> 5334 </iyy>
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<izz unit="SLUG*FT2"> 11945 </izz>
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<ixz unit="SLUG*FT2"> 0 </ixz>
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<emptywt unit="KG"> 1575 </emptywt>
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<location name="CG" unit="M">
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<x> 1.5 </x>
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<y> 0.0 </y>
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<z> 0.4 </z>
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</location>
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</mass_balance>
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<ground_reactions>
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<contact type="BOGEY" name="FL">
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<location unit="M">
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<x> 0.68</x>
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<y>-0.66</y>
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<z>-0.02</z>
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</location>
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<static_friction> 1.7 </static_friction>
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<dynamic_friction> 1.0 </dynamic_friction>
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<rolling_friction> 0.06 </rolling_friction>
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<table name="CORNERING_COEFF" type="internal">
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<tableData>
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-10. -1.0
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-2.0 -1.0
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2.0 1.0
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10. 1.0
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</tableData>
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</table>
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<spring_coeff unit="LBS/FT"> 5400 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 1600 </damping_coeff>
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<max_steer unit="DEG"> 45 </max_steer>
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<brake_group> LEFT </brake_group>
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<retractable>0</retractable>
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</contact>
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<contact type="BOGEY" name="FR">
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<location unit="M">
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<x> 0.68</x>
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<y> 0.66</y>
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<z>-0.02</z>
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</location>
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<static_friction> 1.7 </static_friction>
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<dynamic_friction> 1.0 </dynamic_friction>
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<rolling_friction> 0.06 </rolling_friction>
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<table name="CORNERING_COEFF" type="internal">
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<tableData>
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-10. -1.0
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-2.0 -1.0
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2.0 1.0
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10. 1.0
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</tableData>
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</table>
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<spring_coeff unit="LBS/FT"> 5400 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 1600 </damping_coeff>
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<max_steer unit="DEG"> 45 </max_steer>
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<brake_group> RIGHT </brake_group>
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<retractable>0</retractable>
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</contact>
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<contact type="BOGEY" name="BL">
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<location unit="M">
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<x> 3.17</x>
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<y>-0.66</y>
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<z>-0.03</z>
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</location>
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<static_friction> 1.7 </static_friction>
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<dynamic_friction> 1.5 </dynamic_friction>
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<rolling_friction> 0.06 </rolling_friction>
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<table name="CORNERING_COEFF" type="internal">
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<tableData>
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-10. -1.0
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-2.0 -1.0
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2.0 1.0
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10. 1.0
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</tableData>
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</table>
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<spring_coeff unit="LBS/FT"> 5400 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 1600 </damping_coeff>
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<max_steer unit="DEG"> 0 </max_steer>
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<brake_group> LEFT </brake_group>
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<retractable>0</retractable>
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</contact>
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<contact type="BOGEY" name="BR">
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<location unit="M">
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<x> 3.17</x>
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<y> 0.66</y>
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<z>-0.03</z>
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</location>
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<static_friction> 1.7 </static_friction>
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<dynamic_friction> 1.5 </dynamic_friction>
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<rolling_friction> 0.06 </rolling_friction>
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<table name="CORNERING_COEFF" type="internal">
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<tableData>
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-10. -1.0
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-2.0 -1.0
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2.0 1.0
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10. 1.0
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</tableData>
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</table>
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<spring_coeff unit="LBS/FT"> 5400 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 1600 </damping_coeff>
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<max_steer unit="DEG"> 0 </max_steer>
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<brake_group> RIGHT </brake_group>
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<retractable>0</retractable>
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</contact>
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<contact type="STRUCTURE" name="Bottom_front">
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<location unit="M">
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<x>0.08</x>
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<y>0</y>
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<z>0.27</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="Bottom_front_1">
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<location unit="M">
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<x>0.01</x>
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<y>0</y>
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<z>0.44</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="Bottom_left_bump">
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<location unit="M">
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<x>0.02</x>
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<y>0.40</y>
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<z>0.34</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="Bottom_right_bump">
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<location unit="M">
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<x>0.02</x>
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<y>-0.40</y>
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<z>0.34</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="Bottom2">
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<location unit="M">
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<x>3.75</x>
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<y>0</y>
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<z>0.38</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="Front">
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<location unit="M">
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<x>0</x>
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<y>0</y>
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<z>0.54</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="FrontLeft">
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<location unit="M">
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<x>0.14</x>
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<y>0.66</y>
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<z>0.54</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="FrontRight">
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<location unit="M">
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<x>0.14</x>
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<y>-0.66</y>
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<z>0.54</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="BackSide1">
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<location unit="M">
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<x>3.00</x>
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<y>0.80</y>
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<z>0.75</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="BackSide2">
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<location unit="M">
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<x>3.00</x>
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<y>-0.80</y>
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<z>0.75</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="Back">
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<location unit="M">
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<x>3.80</x>
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<y>0</y>
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<z>0.62</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="BackLeft">
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<location unit="M">
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<x>3.71</x>
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<y>0.73</y>
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<z>0.76</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="BackRight">
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<location unit="M">
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<x>3.71</x>
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<y>-0.73</y>
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<z>0.76</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="Top1">
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<location unit="M">
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<x>0.3</x>
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<y>0</y>
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<z>0.90</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="Top2">
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<location unit="M">
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<x>3.61</x>
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<y>0</y>
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<z>1.73</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="display1">
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<location unit="M">
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<x>3.40</x>
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<y>0.37</y>
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<z>1.90</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="display2">
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<location unit="M">
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<x>3.40</x>
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<y>-0.37</y>
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<z>1.90</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="Wing1">
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<location unit="M">
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<x>2.12</x>
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<y>0.8</y>
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<z>0.9</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="Wing2">
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<location unit="M">
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<x>2.12</x>
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<y>-0.8</y>
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<z>0.9</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="Mirror1">
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<location unit="M">
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<x> 1.25</x>
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<y>0.94</y>
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<z>1.05</z>
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</location>
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<static_friction> 3.0 </static_friction>
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<dynamic_friction> 2.0 </dynamic_friction>
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<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
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<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
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<max_steer unit="DEG"> 0.0 </max_steer>
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<brake_group> NONE </brake_group>
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<retractable> 0 </retractable>
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</contact>
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<contact type="STRUCTURE" name="Mirror2">
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<location unit="M">
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|
<x> 1.25</x>
|
|
<y>-0.94</y>
|
|
<z>1.05</z>
|
|
</location>
|
|
<static_friction> 3.0 </static_friction>
|
|
<dynamic_friction> 2.0 </dynamic_friction>
|
|
<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
|
|
<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
|
|
<max_steer unit="DEG"> 0.0 </max_steer>
|
|
<brake_group> NONE </brake_group>
|
|
<retractable> 0 </retractable>
|
|
</contact>
|
|
<contact type="STRUCTURE" name="FrontSide1">
|
|
<location unit="M">
|
|
<x>0.90</x>
|
|
<y>0.80</y>
|
|
<z>0.7</z>
|
|
</location>
|
|
<static_friction> 3.0 </static_friction>
|
|
<dynamic_friction> 2.0 </dynamic_friction>
|
|
<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
|
|
<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
|
|
<max_steer unit="DEG"> 0.0 </max_steer>
|
|
<brake_group> NONE </brake_group>
|
|
<retractable> 0 </retractable>
|
|
</contact>
|
|
<contact type="STRUCTURE" name="FrontSide2">
|
|
<location unit="M">
|
|
<x>0.90</x>
|
|
<y>-0.80</y>
|
|
<z>0.7</z>
|
|
</location>
|
|
<static_friction> 3.0 </static_friction>
|
|
<dynamic_friction> 2.0 </dynamic_friction>
|
|
<spring_coeff unit="LBS/FT"> 8000 </spring_coeff>
|
|
<damping_coeff unit="LBS/FT/SEC"> 5000 </damping_coeff>
|
|
<max_steer unit="DEG"> 0.0 </max_steer>
|
|
<brake_group> NONE </brake_group>
|
|
<retractable> 0 </retractable>
|
|
</contact>
|
|
</ground_reactions>
|
|
|
|
<propulsion>
|
|
<!--<engine file="motor">
|
|
<location unit="M">
|
|
<x> 1.5</x>
|
|
<y> 0</y>
|
|
<z> 0</z>
|
|
</location>
|
|
<orient unit="DEG">
|
|
<roll> 0.0 </roll>
|
|
<pitch> 0 </pitch>
|
|
<yaw> 0 </yaw>
|
|
</orient>
|
|
<feed>0</feed>
|
|
<thruster file="direct">
|
|
<location unit="M">
|
|
<x> 1.5</x>
|
|
<y> 0</y>
|
|
<z> 0</z>
|
|
</location>
|
|
<orient unit="DEG">
|
|
<roll> 0.0 </roll>
|
|
<pitch> 0 </pitch>
|
|
<yaw> 0 </yaw>
|
|
</orient>
|
|
</thruster>
|
|
</engine>-->
|
|
</propulsion>
|
|
|
|
<flight_control name="Truck">
|
|
|
|
<channel name="Steer">
|
|
<summer name="Steer Sum">
|
|
<input>fcs/rudder-cmd-norm</input>
|
|
<clipto>
|
|
<min>-1</min>
|
|
<max>1</max>
|
|
</clipto>
|
|
<output>fcs/rudder-pos-norm</output>
|
|
</summer>
|
|
<lag_filter name="fcs/rudder-pos-norm">
|
|
<input>fcs/rudder-cmd-norm</input>
|
|
<c1>30</c1>
|
|
</lag_filter>
|
|
</channel>
|
|
</flight_control>
|
|
|
|
<aerodynamics>
|
|
<axis name="DRAG">
|
|
<function name="aero/coefficient/CD">
|
|
<product>
|
|
<property>aero/qbar-area</property>
|
|
<value>0.8</value>
|
|
</product>
|
|
</function>
|
|
</axis>
|
|
<axis name="SIDE"/>
|
|
<axis name="ROLL"/>
|
|
<axis name="PITCH"/>
|
|
<axis name="YAW"/>
|
|
</aerodynamics>
|
|
|
|
<external_reactions>
|
|
<force name="FL" frame="BODY">
|
|
<location unit="M">
|
|
<x> 0.68</x>
|
|
<y>-0.66</y>
|
|
<z>-0.02</z>
|
|
</location>
|
|
<direction>
|
|
<x>1</x>
|
|
<y>0</y>
|
|
<z>0</z>
|
|
</direction>
|
|
</force>
|
|
<force name="FR" frame="BODY">
|
|
<location unit="M">
|
|
<x> 0.68</x>
|
|
<y> 0.66</y>
|
|
<z>-0.02</z>
|
|
</location>
|
|
<direction>
|
|
<x>1</x>
|
|
<y>0</y>
|
|
<z>0</z>
|
|
</direction>
|
|
</force>
|
|
<force name="BL" frame="BODY">
|
|
<location unit="M">
|
|
<x> 3.17</x>
|
|
<y>-0.66</y>
|
|
<z>-0.03</z>
|
|
</location>
|
|
<direction>
|
|
<x>1</x>
|
|
<y>0</y>
|
|
<z>0</z>
|
|
</direction>
|
|
</force>
|
|
<force name="BR" frame="BODY">
|
|
<location unit="M">
|
|
<x> 3.17</x>
|
|
<y> 0.66</y>
|
|
<z>-0.03</z>
|
|
</location>
|
|
<direction>
|
|
<x>1</x>
|
|
<y>0</y>
|
|
<z>0</z>
|
|
</direction>
|
|
</force>
|
|
</external_reactions>
|
|
|
|
<system name="Followme EV animations">
|
|
<channel name="Stroage" execrate="2">
|
|
<fcs_function name="animation/storage_nul">
|
|
<function>
|
|
<table>
|
|
<independentVar lookup="row">/controls/interior/luxury/storage_cover_pos</independentVar>
|
|
<tableData>
|
|
0.00 0.0
|
|
0.05 0.1
|
|
0.10 0.1
|
|
0.30 0.2
|
|
0.75 0.7
|
|
0.95 1.0
|
|
</tableData>
|
|
</table>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<lag_filter name="animation/storage_cover_pos">
|
|
<input>animation/storage_nul</input>
|
|
<c1>3</c1>
|
|
</lag_filter>
|
|
</channel>
|
|
|
|
<channel name="Wiper" execrate="2">
|
|
<fcs_function name="animation/wiper">
|
|
<function>
|
|
<table>
|
|
<independentVar lookup="row">/controls/wiper/frontwiper/state</independentVar>
|
|
<tableData>
|
|
0.00 0.0
|
|
0.05 0.1
|
|
0.10 0.1
|
|
0.30 0.2
|
|
0.75 0.7
|
|
0.95 1.0
|
|
1.0 1.0
|
|
</tableData>
|
|
</table>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
<lag_filter name="animation/wiper_pos">
|
|
<input>animation/wiper</input>
|
|
<c1>5</c1>
|
|
</lag_filter>
|
|
</channel>
|
|
|
|
<channel name="SteeringWheel">
|
|
<fcs_function name="animation/steering_wheel_pos">
|
|
<function>
|
|
<product>
|
|
<property>/controls/steering_wheel/steering_limit-deg</property>
|
|
<property>/controls/flight/rudder</property>
|
|
</product>
|
|
</function>
|
|
</fcs_function>
|
|
</channel>
|
|
</system>
|
|
|
|
</fdm_config>
|