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PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/tailsitter/tailsitter.sdf.jinja

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<?xml version="1.0"?>
<!-- DO NOT EDIT: Generated from tailsitter.sdf.jinja -->
<sdf version='1.6'>
<model name='tailsitter'>
<link name='base_link'>
<pose>0 0 0.4 0 0 0</pose>
<inertial>
<pose>0 0 0.05 0 0 0</pose>
<mass>1.6</mass>
<inertia>
<!-- Rectangular cuboid:
Ixx = 1/12*(y^2+z^2)
Iyy = 1/12*(x^2+z^2)
Izz = 1/12*(x^2+y^2)
-->
<ixx>0.1133333333</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.03020833333</iyy>
<iyz>0</iyz>
<izz>0.08354166667</izz>
</inertia>
</inertial>
<collision name='base_link_collision'>
<pose>0 0 -0.2 0 0 0</pose>
<geometry>
<box>
<size>0.4 1.0 0.2</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<max_vel>10</max_vel>
<min_depth>0.01</min_depth>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='base_link_visual'>
<pose>0 0 0.2 0 -1.57075 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://tailsitter/meshes/pacflyer_s100_mockup.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<link name='tailsitter/imu_link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.015</mass>
<inertia>
<ixx>1e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1e-05</iyy>
<iyz>0</iyz>
<izz>1e-05</izz>
</inertia>
</inertial>
</link>
<joint name='tailsitter/imu_joint' type='revolute'>
<child>tailsitter/imu_link</child>
<parent>base_link</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<include>
<uri>model://airspeed</uri>
<pose>0 0 0.6 0 -1.57 0</pose>
<name>airspeed</name>
</include>
<joint name='airspeed_joint' type='fixed'>
<child>airspeed::link</child>
<parent>base_link</parent>
</joint>
<link name='rotor_0'>
<pose>0.3 -0.3 0.4 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000166704</iyy>
<iyz>0</iyz>
<izz>0.000167604</izz>
</inertia>
</inertial>
<collision name='rotor_0_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='rotor_0_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://tailsitter/meshes/iris_prop_ccw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_0_joint' type='revolute'>
<child>rotor_0</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='rotor_1'>
<pose>-0.3 0.3 0.4 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000166704</iyy>
<iyz>0</iyz>
<izz>0.000167604</izz>
</inertia>
</inertial>
<collision name='rotor_1_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='rotor_1_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://tailsitter/meshes/iris_prop_ccw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_1_joint' type='revolute'>
<child>rotor_1</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='rotor_2'>
<pose>0.3 0.3 0.4 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000166704</iyy>
<iyz>0</iyz>
<izz>0.000167604</izz>
</inertia>
</inertial>
<collision name='rotor_2_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='rotor_2_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://tailsitter/meshes/iris_prop_ccw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_2_joint' type='revolute'>
<child>rotor_2</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='rotor_3'>
<pose>-0.3 -0.3 0.4 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000166704</iyy>
<iyz>0</iyz>
<izz>0.000167604</izz>
</inertia>
</inertial>
<collision name='rotor_3_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='rotor_3_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://tailsitter/meshes/iris_prop_ccw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_3_joint' type='revolute'>
<child>rotor_3</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name="left_elevon_link">
<inertial>
<mass>0.00000001</mass>
<inertia>
<ixx>0.000001</ixx>
<ixy>0.0</ixy>
<iyy>0.000001</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.000001</izz>
</inertia>
<pose>0 0.3 -0.3 0.00 0 0.0</pose>
</inertial>
</link>
<link name="right_elevon_link">
<inertial>
<mass>0.00000001</mass>
<inertia>
<ixx>0.000001</ixx>
<ixy>0.0</ixy>
<iyy>0.000001</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.000001</izz>
</inertia>
<pose>0 -0.3 -0.3 0.00 0 0.0</pose>
</inertial>
</link>
<link name="rudder_link">
<inertial>
<mass>0.00000001</mass>
<inertia>
<ixx>0.000001</ixx>
<ixy>0.0</ixy>
<iyy>0.000001</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.000001</izz>
</inertia>
<pose>0 0 -0.5 0.00 0 0.0</pose>
</inertial>
</link>
<joint name='left_elevon_joint' type='revolute'>
<parent>base_link</parent>
<child>left_elevon_link</child>
<pose>0 0.3 -0.25 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>
<joint name='right_elevon_joint' type='revolute'>
<parent>base_link</parent>
<child>right_elevon_link</child>
<pose>0 -0.3 -0.25 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>
<joint name='rudder_joint' type='revolute'>
<parent>base_link</parent>
<child>rudder_link</child>
<pose>0 0 -0.5 0.00 0 0.0</pose>
<axis>
<xyz>1 0 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.01</lower>
<upper>0.01</upper>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<include>
<uri>model://gps</uri>
<pose>0 0 0.5 0 -1.57 0</pose>
<name>gps</name>
</include>
<joint name='gps_joint' type='fixed'>
<child>gps::link</child>
<parent>base_link</parent>
</joint>
<plugin name="left_wing" filename="libLiftDragPlugin.so">
<a0>0.05984281113</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>0.0</cma>
<alpha_stall>0.6391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
<cm_delta>-0.3</cm_delta>
<cp>0 0.3 0.0</cp>
<area>0.15</area>
<air_density>1.2041</air_density>
<forward>0 0 1</forward>
<upward>-1 0 0</upward>
<link_name>base_link</link_name>
<control_joint_name>
left_elevon_joint
</control_joint_name>
<control_joint_rad_to_cl>-0.5</control_joint_rad_to_cl>
<robotNamespace></robotNamespace>
<windSubTopic>world_wind</windSubTopic>
</plugin>
<plugin name="right_wing" filename="libLiftDragPlugin.so">
<a0>0.05984281113</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>0.0</cma>
<alpha_stall>0.6391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
<cm_delta>-0.3</cm_delta>
<cp>0 -0.3 -0.0</cp>
<area>0.15</area>
<air_density>1.2041</air_density>
<forward>0 0 1</forward>
<upward>-1 0 0</upward>
<link_name>base_link</link_name>
<control_joint_name>
right_elevon_joint
</control_joint_name>
<control_joint_rad_to_cl>-0.5</control_joint_rad_to_cl>
<robotNamespace></robotNamespace>
<windSubTopic>world_wind</windSubTopic>
</plugin>
<plugin name="rudder_plugin" filename="libLiftDragPlugin.so">
<a0>0.0</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
<cp>-0.1 0 -0.5</cp>
<area>0.05</area>
<air_density>1.2041</air_density>
<forward>0 0 1</forward>
<upward>0 1 0</upward>
<link_name>base_link</link_name>
<robotNamespace></robotNamespace>
<windSubTopic>world_wind</windSubTopic>
</plugin>
<plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
<robotNamespace></robotNamespace>
<linkName>base_link</linkName>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1200</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1200</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1200</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>2</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_3_joint</jointName>
<linkName>rotor_3</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1200</maxRotVelocity>
<motorConstant>8.54858e-06</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>3</motorNumber>
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
</plugin>
<plugin name='gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
<robotNamespace></robotNamespace>
<linkName>tailsitter/imu_link</linkName>
<imuTopic>/imu</imuTopic>
</plugin>
<plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
<robotNamespace/>
</plugin>
<plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
<robotNamespace/>
<pubRate>100</pubRate>
<noiseDensity>0.0004</noiseDensity>
<randomWalk>6.4e-06</randomWalk>
<biasCorrelationTime>600</biasCorrelationTime>
<magTopic>/mag</magTopic>
</plugin>
<plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
<robotNamespace/>
<pubRate>50</pubRate>
<baroTopic>/baro</baroTopic>
</plugin>
<plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
<robotNamespace></robotNamespace>
<imuSubTopic>/imu</imuSubTopic>
<magSubTopic>/mag</magSubTopic>
<baroSubTopic>/baro</baroSubTopic>
<mavlink_addr>INADDR_ANY</mavlink_addr>
<mavlink_tcp_port>{{ mavlink_tcp_port }}</mavlink_tcp_port>
<mavlink_udp_port>{{ mavlink_udp_port }}</mavlink_udp_port>
<serialEnabled>{{ serial_enabled }}</serialEnabled>
<serialDevice>{{ serial_device }}</serialDevice>
<baudRate>{{ serial_baudrate }}</baudRate>
<qgc_addr>INADDR_ANY</qgc_addr>
<qgc_udp_port>14550</qgc_udp_port>
<sdk_addr>INADDR_ANY</sdk_addr>
<sdk_udp_port>14540</sdk_udp_port>
<hil_mode>{{ hil_mode }}</hil_mode>
<hil_state_level>false</hil_state_level>
<enable_lockstep>true</enable_lockstep>
<use_tcp>true</use_tcp>
<motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
<control_channels>
<channel name="rotor_0_channel">
<input_index>0</input_index>
<input_offset>0</input_offset>
<input_scaling>1200</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_name>rotor_0_joint</joint_name>
</channel>
<channel name="rotor_1_channel">
<input_index>1</input_index>
<input_offset>0</input_offset>
<input_scaling>1200</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_name>rotor_1_joint</joint_name>
</channel>
<channel name="rotor_2_channel">
<input_index>2</input_index>
<input_offset>0</input_offset>
<input_scaling>1200</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_name>rotor_2_joint</joint_name>
</channel>
<channel name="rotor_3_channel">
<input_index>3</input_index>
<input_offset>0</input_offset>
<input_scaling>1200</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_name>rotor_3_joint</joint_name>
</channel>
<channel name="left_elevon_channel">
<input_index>5</input_index>
<input_offset>0</input_offset>
<input_scaling>1</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position_kinematic</joint_control_type>
<joint_name>left_elevon_joint</joint_name>
</channel>
<channel name="right_elevon_channel">
<input_index>6</input_index>
<input_offset>0</input_offset>
<input_scaling>1</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position_kinematic</joint_control_type>
<joint_name>right_elevon_joint</joint_name>
</channel>
</control_channels>
</plugin>
<static>0</static>
</model>
</sdf>