standard_vtol.sdf.jinja

<?xml version="1.0"?>
<!-- DO NOT EDIT: Generated from standard_vtol.sdf.jinja -->
<sdf version='1.5'>
  <model name='standard_vtol'>
    <pose>0 0 0.246 0 0 0</pose>
    <link name='base_link'>
      <pose>0 0 0 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>5</mass>
        <inertia>
          <ixx>0.477708333333</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.341666666667</iyy>
          <iyz>0</iyz>
          <izz>0.811041666667</izz>
        </inertia>
      </inertial>
      <collision name='base_link_collision'>
        <pose>0 0 -0.07 0 0 0</pose>
        <geometry>
          <box>
            <size>0.55 2.144 0.05</size>
          </box>
        </geometry>
        <surface>
          <contact>
            <ode>
              <kp>100000</kp>
              <kd>1.0</kd>
              <max_vel>0.1</max_vel>
              <min_depth>0.001</min_depth>
            </ode>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='base_link_visual'>
        <pose>0.53 -1.072 -0.1 1.5707963268 0 3.1415926536</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://standard_vtol/meshes/x8_wing.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='left_motor_column'>
        <pose>0 0.35 0.01 0 0 0</pose>
        <geometry>
          <box>
            <size>0.74 0.03 0.03</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='right_motor_column'>
        <pose>0 -0.35 0.01 0 0 0</pose>
        <geometry>
          <box>
            <size>0.74 0.03 0.03</size>
          </box>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='m0'>
        <pose>-0.35 0.35 0.045 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.035</length>
            <radius>0.02</radius>
          </cylinder>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='m1'>
        <pose>-0.35 -0.35 0.045 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.035</length>
            <radius>0.02</radius>
          </cylinder>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='m2'>
        <pose>0.35 -0.35 0.045 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.035</length>
            <radius>0.02</radius>
          </cylinder>
        </geometry>
        <material>
          <script>
            <name>Gazebo/DarkGrey</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
      <visual name='m3'>
        <pose>0.35 0.35 0.045 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.035</length>
            <radius>0.02</radius>
          </cylinder>
        </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='standard_vtol/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='standard_vtol/imu_joint' type='revolute'>
      <child>standard_vtol/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 0 0 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>0.35 -0.35 0.07 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://standard_vtol/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>-0.35 0.35 0.07 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://standard_vtol/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_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>0.35 0.35 0.07 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://standard_vtol/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>-0.35 -0.35 0.07 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://standard_vtol/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_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='rotor_puller'>
      <pose>-0.22 0 0.0 0 1.57 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_puller_collision'>
        <pose>0.0 0 -0.04 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.005</length>
            <radius>0.06</radius>
          </cylinder>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode/>
          </friction>
        </surface>
      </collision>
      <visual name='rotor_puller_visual'>
        <pose>0 0 -0.04 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>0.8 0.8 0.8</scale>
            <uri>model://standard_vtol/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_puller_joint' type='revolute'>
      <child>rotor_puller</child>
      <parent>base_link</parent>
      <axis>
        <xyz>1 0 0</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">
      <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 0.00 0 0.0</pose>
      </inertial>
      <visual name='left_elevon_visual'>
        <pose>-0.105 0.004 -0.034 1.5707963268 0 3.1415926536</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://standard_vtol/meshes/x8_elevon_left.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Blue</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
    </link>
    <link name="right_elevon">
      <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 -0.6 0 0.00 0 0.0</pose>
      </inertial>
      <visual name='right_elevon_visual'>
        <pose>0.281 -1.032 -0.034 1.5707963268 0 3.1415926536</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>model://standard_vtol/meshes/x8_elevon_right.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <name>Gazebo/Blue</name>
            <uri>__default__</uri>
          </script>
        </material>
      </visual>
    </link>
    <link name="elevator">
      <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> -0.5 0 0 0.00 0 0.0</pose>
      </inertial>
    </link>
    <link name="rudder">
      <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>-0.5 0 0.05 0 0 0 </pose>
      </inertial>
    </link>
    <joint name='left_elevon_joint' type='revolute'>
      <parent>base_link</parent>
      <child>left_elevon</child>
      <pose>-0.18 0.6 -0.005 0 0 0.265</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</child>
      <pose>-0.18 -0.6 -0.005 0 0 -0.265</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='elevator_joint' type='revolute'>
      <parent>base_link</parent>
      <child>elevator</child>
      <pose> -0.5 0 0 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</child>
      <pose>-0.5 0 0.05 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 0 0 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_lift" filename="libLiftDragPlugin.so">
      <a0>0.05984281113</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>-0.05 0.3 0.05</cp>
      <area>0.50</area>
      <air_density>1.2041</air_density>
      <forward>1 0 0</forward>
      <upward>0 0 1</upward>
      <link_name>base_link</link_name>
      <control_joint_name>
        left_elevon_joint
      </control_joint_name>
      <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl>
      <robotNamespace></robotNamespace>
      <windSubTopic>world_wind</windSubTopic>
    </plugin>
    <plugin name="right_wing_lift" filename="libLiftDragPlugin.so">
      <a0>0.05984281113</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>-0.05 -0.3 0.05</cp>
      <area>0.50</area>
      <air_density>1.2041</air_density>
      <forward>1 0 0</forward>
      <upward>0 0 1</upward>
      <link_name>base_link</link_name>
      <control_joint_name>
        right_elevon_joint
      </control_joint_name>
      <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl>
      <robotNamespace></robotNamespace>
      <windSubTopic>world_wind</windSubTopic>
    </plugin>
    <plugin name="elevator_lift" filename="libLiftDragPlugin.so">
      <a0>-0.2</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>-0.5 0 0</cp>
      <area>0.01</area>
      <air_density>1.2041</air_density>
      <forward>1 0 0</forward>
      <upward>0 0 1</upward>
      <link_name>base_link</link_name>
      <control_joint_name>
        elevator_joint
      </control_joint_name>
      <control_joint_rad_to_cl>-12.0</control_joint_rad_to_cl>
      <robotNamespace></robotNamespace>
      <windSubTopic>world_wind</windSubTopic>
    </plugin>
    <plugin name="rudder_lift" 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>-0.5 0 0.05</cp>
      <area>0.02</area>
      <air_density>1.2041</air_density>
      <forward>1 0 0</forward>
      <upward>0 1 0</upward>
      <link_name>base_link</link_name>
      <robotNamespace></robotNamespace>
      <windSubTopic>world_wind</windSubTopic>
    </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>1500</maxRotVelocity>
      <motorConstant>2e-05</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>0</motorNumber>
      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>20</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>1500</maxRotVelocity>
      <motorConstant>2e-05</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>1</motorNumber>
      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>20</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>1500</maxRotVelocity>
      <motorConstant>2e-05</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>2</motorNumber>
      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>20</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>1500</maxRotVelocity>
      <motorConstant>2e-05</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>3</motorNumber>
      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
    </plugin>
    <plugin name='puller_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace></robotNamespace>
      <jointName>rotor_puller_joint</jointName>
      <linkName>rotor_puller</linkName>
      <turningDirection>cw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>3500</maxRotVelocity>
      <motorConstant>8.54858e-06</motorConstant>
      <maxRelativeAirspeed>30</maxRelativeAirspeed>
      <momentConstant>0.01</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>4</motorNumber>
      <rotorDragCoefficient>0.000106428</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/4</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
    </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="rotor0">
          <input_index>0</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1500</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="rotor1">
          <input_index>1</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1500</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="rotor2">
          <input_index>2</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1500</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="rotor3">
          <input_index>3</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1500</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="rotor4">
          <input_index>4</input_index>
          <input_offset>0</input_offset>
          <input_scaling>5500</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_puller_joint</joint_name>
        </channel>
        <channel name="left_elevon">
          <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">
          <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>
        <channel name="elevator">
          <input_index>7</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>elevator_joint</joint_name>
        </channel>
      </control_channels>
    </plugin>
    <plugin name='gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
      <robotNamespace></robotNamespace>
      <linkName>standard_vtol/imu_link</linkName>
      <imuTopic>/imu</imuTopic>
      <gyroscopeNoiseDensity>0.0003394</gyroscopeNoiseDensity>
      <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
      <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
      <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
      <accelerometerNoiseDensity>0.004</accelerometerNoiseDensity>
      <accelerometerRandomWalk>0.006</accelerometerRandomWalk>
      <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
      <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
    </plugin>
    <static>0</static>
  </model>
</sdf>