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Gazebo: set moment coefficient to zero
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- Account for changed behaviour in Gazebo Harmonic.

Signed-off-by: Rhys Mainwaring <[email protected]>
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@srmainwaring
srmainwaring committed Dec 30, 2023
1 parent dfec04b commit 894f455
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Showing 4 changed files with 30 additions and 30 deletions.
16 changes: 8 additions & 8 deletions models/iris_with_ardupilot/model.sdf
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Expand Up @@ -628,7 +628,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -645,7 +645,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -663,7 +663,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -680,7 +680,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -698,7 +698,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -715,7 +715,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -733,7 +733,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -750,7 +750,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
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16 changes: 8 additions & 8 deletions models/iris_with_gimbal/model.sdf
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Expand Up @@ -33,7 +33,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -50,7 +50,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -68,7 +68,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -85,7 +85,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -103,7 +103,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -120,7 +120,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -138,7 +138,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -155,7 +155,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
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14 changes: 7 additions & 7 deletions models/zephyr_with_ardupilot/model.sdf
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Expand Up @@ -15,7 +15,7 @@
<a0>0.13</a0>
<cla>3.7</cla>
<cda>0.06417112299</cda>
<cma>-1.8</cma>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
Expand All @@ -33,7 +33,7 @@
<a0>0.15</a0>
<cla>6.8</cla>
<cda>0.06417112299</cda>
<cma>-1.8</cma>
<cma>0.0</cma>
<alpha_stall>0.6391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
Expand All @@ -53,7 +53,7 @@
<a0>0.15</a0>
<cla>6.8</cla>
<cda>0.06417112299</cda>
<cma>-1.8</cma>
<cma>0.0</cma>
<alpha_stall>0.6391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
Expand All @@ -73,7 +73,7 @@
<a0>0.0</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>-1.8</cma>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
Expand All @@ -91,7 +91,7 @@
<a0>0.0</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>-1.8</cma>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
Expand All @@ -110,7 +110,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -128,7 +128,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
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14 changes: 7 additions & 7 deletions models/zephyr_with_parachute/model.sdf
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Expand Up @@ -47,7 +47,7 @@
<a0>0.13</a0>
<cla>3.7</cla>
<cda>0.06417112299</cda>
<cma>-1.8</cma>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
Expand All @@ -65,7 +65,7 @@
<a0>0.15</a0>
<cla>6.8</cla>
<cda>0.06417112299</cda>
<cma>-1.8</cma>
<cma>0.0</cma>
<alpha_stall>0.6391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
Expand All @@ -85,7 +85,7 @@
<a0>0.15</a0>
<cla>6.8</cla>
<cda>0.06417112299</cda>
<cma>-1.8</cma>
<cma>0.0</cma>
<alpha_stall>0.6391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
Expand All @@ -105,7 +105,7 @@
<a0>0.0</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>-1.8</cma>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
Expand All @@ -123,7 +123,7 @@
<a0>0.0</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>-1.8</cma>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
Expand All @@ -142,7 +142,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -160,7 +160,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand Down

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