From 8f9a44637e5ebdbacc5150b899253186ef4a4ad1 Mon Sep 17 00:00:00 2001 From: Rhys Mainwaring Date: Tue, 4 Jul 2023 13:11:29 +0100 Subject: [PATCH] Gazebo: add X-UAV Mini Talon V-Tail - Add body link and visual and collision meshes. - Add wheel link. - Add wheel link - cleanup. - Add aileron links. - Add rudder links. - Update position controller PIDs. - Add rudder links - cleanup. - Position motor and prop. - Add motor link and thrust controller. - Rename cockpit frame to forward deck. - Rename rudder to ruddervator. - Change control surface limits. - Add ArduPilot plugin configured for v-tail. - Add initial ArduPilot param file. - Add doc. - Update wheel link orientation and inertial. - Move mesh origin to geometric centre. - Update inertial. - Update motor link inertial. - Update base link inertial. - Add cp visuals for main wing. - Add lift-drag plugin for main wing. - Switch order of wheel collision and visual elements. - Update aileron link orientation and inertial. - Move mesh origin to geometric centre. - Update inertial and controller PIDs. - Update motor velocity controller PIDs. - Update lift-drag plugin for main wing. - Update lift-drag plugin for v-tail. - Add visuals for v-tail centre of pressure. - Move mesh origin to geometric centre. - Update inertial and controller PIDs. - Add lift-drag plugins for v-tail and ruddervator. - Add notes. - Switch to lift-drag for prop thrust. - Use motor / pusher inertial from zephyr. - Increase gains on position controllers. - Update params autotuning roll and pitch. - Update doc. Signed-off-by: Rhys Mainwaring --- Gazebo/config/mini_talon_vtail.param | 28 + Gazebo/docs/X-UAV_Mini_Talon.md | 56 + .../mini_talon_vtail/meshes/iris_prop_cw.dae | 160 +++ .../meshes/mini_talon_forward_deck.dae | 89 ++ .../meshes/mini_talon_fuselage.dae | 385 ++++++ .../meshes/mini_talon_fuselage_collision.stl | Bin 0 -> 421934 bytes .../meshes/mini_talon_left_aileron.dae | 151 +++ .../meshes/mini_talon_left_ruddervator.dae | 151 +++ .../meshes/mini_talon_left_tail.dae | 89 ++ .../meshes/mini_talon_left_tail_collision.stl | Bin 0 -> 18984 bytes .../meshes/mini_talon_left_wing.dae | 167 +++ .../meshes/mini_talon_left_wing_collision.stl | Bin 0 -> 65334 bytes .../meshes/mini_talon_main_wheel.dae | 151 +++ .../mini_talon_main_wheel_collision.stl | Bin 0 -> 69284 bytes .../meshes/mini_talon_right_aileron.dae | 151 +++ .../meshes/mini_talon_right_ruddervator.dae | 151 +++ .../meshes/mini_talon_right_tail.dae | 89 ++ .../mini_talon_right_tail_collision.stl | Bin 0 -> 20384 bytes .../meshes/mini_talon_right_wing.dae | 167 +++ .../mini_talon_right_wing_collision.stl | Bin 0 -> 64734 bytes .../meshes/propdrive_3536_frontplate.dae | 89 ++ .../meshes/propdrive_3536_motor_can.dae | 1081 +++++++++++++++++ Gazebo/models/mini_talon_vtail/model.config | 37 + Gazebo/models/mini_talon_vtail/model.sdf | 992 +++++++++++++++ Gazebo/worlds/vtail_runway.sdf | 115 ++ 25 files changed, 4299 insertions(+) create mode 100644 Gazebo/config/mini_talon_vtail.param create mode 100644 Gazebo/docs/X-UAV_Mini_Talon.md create mode 100755 Gazebo/models/mini_talon_vtail/meshes/iris_prop_cw.dae create mode 100644 Gazebo/models/mini_talon_vtail/meshes/mini_talon_forward_deck.dae create mode 100644 Gazebo/models/mini_talon_vtail/meshes/mini_talon_fuselage.dae create mode 100644 Gazebo/models/mini_talon_vtail/meshes/mini_talon_fuselage_collision.stl create mode 100644 Gazebo/models/mini_talon_vtail/meshes/mini_talon_left_aileron.dae create mode 100644 Gazebo/models/mini_talon_vtail/meshes/mini_talon_left_ruddervator.dae create mode 100644 Gazebo/models/mini_talon_vtail/meshes/mini_talon_left_tail.dae create mode 100644 Gazebo/models/mini_talon_vtail/meshes/mini_talon_left_tail_collision.stl create mode 100644 Gazebo/models/mini_talon_vtail/meshes/mini_talon_left_wing.dae create mode 100644 Gazebo/models/mini_talon_vtail/meshes/mini_talon_left_wing_collision.stl create mode 100644 Gazebo/models/mini_talon_vtail/meshes/mini_talon_main_wheel.dae create mode 100644 Gazebo/models/mini_talon_vtail/meshes/mini_talon_main_wheel_collision.stl create mode 100644 Gazebo/models/mini_talon_vtail/meshes/mini_talon_right_aileron.dae create mode 100644 Gazebo/models/mini_talon_vtail/meshes/mini_talon_right_ruddervator.dae create mode 100644 Gazebo/models/mini_talon_vtail/meshes/mini_talon_right_tail.dae create mode 100644 Gazebo/models/mini_talon_vtail/meshes/mini_talon_right_tail_collision.stl create mode 100644 Gazebo/models/mini_talon_vtail/meshes/mini_talon_right_wing.dae create mode 100644 Gazebo/models/mini_talon_vtail/meshes/mini_talon_right_wing_collision.stl create mode 100644 Gazebo/models/mini_talon_vtail/meshes/propdrive_3536_frontplate.dae create mode 100644 Gazebo/models/mini_talon_vtail/meshes/propdrive_3536_motor_can.dae create mode 100644 Gazebo/models/mini_talon_vtail/model.config create mode 100644 Gazebo/models/mini_talon_vtail/model.sdf create mode 100755 Gazebo/worlds/vtail_runway.sdf diff --git a/Gazebo/config/mini_talon_vtail.param b/Gazebo/config/mini_talon_vtail.param new file mode 100644 index 00000000..5b6ece3f --- /dev/null +++ b/Gazebo/config/mini_talon_vtail.param @@ -0,0 +1,28 @@ +ARMING_RUDDER 0.000000 +RLL2SRV_RMAX 75.000000 +RLL_RATE_P 0.250811 +RLL_RATE_I 0.250811 +RLL_RATE_D 0.007486 +RLL_RATE_FF 0.339297 +RLL_RATE_FLTT 3.183099 +RLL_RATE_FLTD 10.000000 +PTCH2SRV_TCONST 0.750000 +PTCH2SRV_RMAX_UP 75.000000 +PTCH2SRV_RMAX_DN 75.000000 +PTCH_RATE_P 1.329862 +PTCH_RATE_I 1.022127 +PTCH_RATE_D 0.021373 +PTCH_RATE_FF 1.022127 +PTCH_RATE_FLTT 2.122066 +PTCH_RATE_FLTD 10.000000 +SERVO1_MIN 1000.000000 +SERVO1_MAX 2000.000000 +SERVO2_MIN 1000.000000 +SERVO2_MAX 2000.000000 +SERVO2_FUNCTION 79.000000 +SERVO3_MIN 1000.000000 +SERVO3_MAX 2000.000000 +SERVO4_MIN 1000.000000 +SERVO4_MAX 2000.000000 +SERVO4_FUNCTION 80.000000 +ARSPD_TYPE 0.000000 \ No newline at end of file diff --git a/Gazebo/docs/X-UAV_Mini_Talon.md b/Gazebo/docs/X-UAV_Mini_Talon.md new file mode 100644 index 00000000..e2f2a6e6 --- /dev/null +++ b/Gazebo/docs/X-UAV_Mini_Talon.md @@ -0,0 +1,56 @@ +# X-UAV Mini Talon V-Tail + +Model for the X-UAV Mini Talon V-Tail plane for use with ArduPilot. + +## Usage + +Gazebo and the plugins should be installed as per the [ArduPilot Gazebo Plugin](https://github.com/ArduPilot/ardupilot_gazebo) instructions. + +Update the `GZ_SIM_RESOURCE_PATH` to include these models: + +```bash +export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:\ +$HOME/SITL_Models/Gazebo/models:\ +$HOME/SITL_Models/Gazebo/worlds +``` + +#### Run Gazebo + +```bash +gz sim -v4 -r vtail_runway.sdf +``` + +#### Run ArduPilot SITL + +```bash +sim_vehicle.py -v ArduPlane -f JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/mini_talon_vtail.param --console --map +``` + +## Specifications + +- wingspan: 1300 mm +- length: 830 mm +- wing area: 30 dm^2 +- flying weight: 1.0 - 2.0 kg + +- 3s 11.1V + - 10x6 prop +- 4s 14.8V + - 9x5 prop + - 3536 930kV motor + - 40A ESC + +## General + +- Mark Qvale's [X-UAV Mini Talon Build Compilation](http://www.itsqv.com/QVM/index.php?title=X-UAV_Mini_Talon_Build_Compilation#Introduction). + +## Credits + +- Original Mini Talon X-UAV CAD model by Alessandro Bacchini, +retrieved from GrabCAD 04 July 2023. + - https://grabcad.com/alessandro.bacchini-2 + - https://grabcad.com/library/mini-talon-x-uav-1 + +- PropDrive 3536 motor model by Seth Schaffer, retrieved from GrabCAD 04 July 2023. + - https://grabcad.com/seth.schaffer-1 + - https://grabcad.com/library/configurable-propdrive-v2-brushless-motor-with-mount-plate-solidworks-2019-1 diff --git a/Gazebo/models/mini_talon_vtail/meshes/iris_prop_cw.dae b/Gazebo/models/mini_talon_vtail/meshes/iris_prop_cw.dae new file mode 100755 index 00000000..f939111f --- /dev/null +++ b/Gazebo/models/mini_talon_vtail/meshes/iris_prop_cw.dae @@ -0,0 +1,160 @@ + + + + + Blender User + Blender 2.73.0 commit date:2015-01-07, commit time:13:17, hash:b4d8fb5 + + 2015-01-13T10:40:36 + 2015-01-13T10:40:36 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + + + + 0.004280924 -3.49388e-4 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10897 12401 10896 12395 10890 12393 10887 12398 10893 12400 10895 12402 10897 12413 10908 11650 10152 11634 10140 11633 10139 11603 10113 11634 10140 12439 10983 11603 10113 11592 10100 11633 10139 11624 10130 11625 10131 12442 10987 11592 10100 11607 10116 11633 10139 11624 10130 11639 10145 11637 10143 11607 10116 11600 10108 11618 10124 11660 10162 11644 10148 11637 10143 11660 10162 11653 10155 11658 10160 11645 10149 11644 10148 11668 10170 11637 10143 11644 10148 11725 10226 11663 10165 11660 10162 11661 10163 11275 9836 11309 9835 11291 9817 11165 9707 11276 9816 11275 9836 11272 9804 11171 9713 12443 10988 11172 9714 11272 9804 12440 10984 11264 9796 11170 9712 12410 10905 11170 9712 11292 9818 11171 9713 11273 9805 11172 9714 12441 10985 12444 10989 12437 10981 12390 10884 12437 10981 12444 10989 12395 10890 12413 10908 12393 10887 12392 10886 11622 10128 11604 10114 11630 10136 11629 10135 11604 10114 11603 10113 11605 10115 11606 10233 11610 10990 11603 10113 11593 10101 11592 10100 11616 10121 11620 10126 11605 10115 11594 10102 11600 10108 11592 10100 11637 10143 11725 10226 11621 10127 11632 10138 11725 10226 11644 10148 11621 10127 11725 10226 11608 10117 11640 10146 11646 10222 11637 10143 12445 10991 11291 9817 11309 9835 11308 9834 11314 9842 11309 9835 11308 9834 11275 9836 11277 9807 12399 10894 11296 9821 12446 10992 11171 9713 12399 10894 12447 10993 11167 9710 11292 9818 11170 9712 11292 9818 12445 10991 11296 9821 12443 10988 11171 9713 12447 10993 12390 10884 12391 10885 12444 10989 12395 10890 12444 10989 12394 10888 12392 10886 12394 10888 12409 10904 11730 10232 11601 10109 11599 10111 11617 10123 11599 10111 11604 10114 11604 10114 11599 10111 11735 10242 11248 10104 11605 10115 11729 10230 11593 10101 11735 10242 11602 10112 11621 10127 11608 10117 11729 10230 11609 10118 11608 10117 11725 10226 11591 10099 11729 10230 11608 10117 11620 10126 11624 10130 11621 10127 12442 10987 11627 10133 11624 10130 11326 9854 11343 9871 11359 9887 11331 9858 12448 10994 12385 10879 11311 9838 11277 9807 11307 9833 12385 10879 11303 9829 11315 9843 11327 9875 11338 9866 11293 9840 11329 9856 11314 9842 11335 9862 11335 9862 11308 9834 11311 9838 11296 9821 12445 10991 11303 9829 11296 9821 11304 9830 11297 9822 11291 9817 12445 10991 11292 9818 12445 10991 11315 9843 11303 9829 12446 10992 11296 9821 11295 9820 12444 10989 12391 10885 12394 10888 12409 10904 12391 10885 12405 10900 11587 10095 11589 10097 11732 10237 11604 10114 11735 10242 11593 10101 11587 10095 11599 10111 11597 10106 11580 10090 11568 10079 11577 10084 11248 10104 11568 10079 11583 10093 11602 10112 11579 10089 11594 10102 11558 10069 11557 10068 11735 10242 11590 10098 11591 10099 11608 10117 11591 10099 11579 10089 11578 10088 11605 10115 11610 10990 11612 10995 11248 10104 11729 10230 11733 10238 11612 10995 11611 10231 11605 10115 12449 10996 11356 9885 12450 10997 12450 10997 12451 10998 12449 10996 11352 9881 11342 9870 11349 9876 12449 10996 12452 10999 11331 9858 11331 9858 12385 10879 11328 9855 11338 9866 11335 9862 11311 9838 11359 9887 11350 9877 11327 9875 12453 11000 11329 9856 11336 9863 11335 9862 11338 9866 11336 9863 12386 10880 12385 10879 12454 11001 11303 9829 12386 10880 12388 10882 11309 9835 11315 9843 12445 10991 11328 9855 12385 10879 11315 9843 11304 9830 11303 9829 12387 10881 12405 10900 12391 10885 11300 9826 11599 10111 11558 10069 11735 10242 11732 10237 11575 10086 11587 10095 11568 10079 11554 10064 11534 10054 11557 10068 11559 10070 11602 10112 11558 10069 11552 10062 11551 10061 11557 10068 11551 10061 11536 10051 11591 10099 11733 10238 11729 10230 11568 10079 11733 10238 11555 10065 11731 10235 11595 10105 11248 10104 11416 9944 11405 9932 11404 9931 12455 11002 12456 11003 11354 9883 11343 9871 11326 9854 11342 9870 11368 9895 11367 9897 11360 9888 11404 9931 11381 9909 11344 9872 11344 9872 11352 9881 11394 9921 12457 11004 12453 11000 11336 9863 12453 11000 12458 11005 11329 9856 11350 9877 11336 9863 11338 9866 11359 9887 11345 9873 11365 9893 12459 11006 12453 11000 12457 11004 11336 9863 11350 9877 12457 11004 12448 10994 11331 9858 12460 11007 12385 10879 12448 10994 12383 10877 11314 9842 11328 9855 11315 9843 12458 11005 11331 9858 11328 9855 12454 11001 12385 10879 12384 10878 11734 10239 11574 10082 11566 10078 11569 10241 11564 10244 11560 10071 11587 10095 11552 10062 11558 10069 11566 10078 11565 10077 11575 10086 11575 10086 11565 10077 11563 10076 11568 10079 11555 10065 11554 10064 11536 10051 11548 10059 11559 10070 11537 10052 11551 10061 11553 10063 11536 10051 11551 10061 11537 10052 11555 10065 11548 10059 11549 10060 11344 9872 11394 9921 11404 9931 12461 11008 12462 11009 12463 11010 11394 9921 11352 9881 11360 9888 11372 9900 11387 9913 11391 9917 12464 11011 12455 11002 12463 11010 11367 9897 11372 9900 11418 9946 12465 11012 12455 11002 11354 9883 11404 9931 11394 9921 11417 9945 12466 11013 12459 11006 12457 11004 12459 11006 12467 11014 12453 11000 11365 9893 12457 11004 11350 9877 11373 9901 11345 9873 11381 9909 12466 11013 11377 9905 12459 11006 11365 9893 12466 11013 12457 11004 11331 9858 12458 11005 12449 10996 11331 9858 12452 10999 11332 9859 11329 9856 12458 11005 11328 9855 12467 11014 12449 10996 12458 11005 11333 9860 12460 11007 11331 9858 12423 10922 11299 9825 12389 10883 11575 10086 11563 10076 11552 10062 11561 10073 11540 10072 11565 10077 11741 11015 11740 11016 11547 11017 11540 10072 11541 10247 11565 10077 12468 11018 11537 10052 12469 11019 11541 10247 11742 10249 11563 10076 12468 11018 12470 11020 11538 10053 12469 11019 11553 10063 11742 10249 12469 11019 11537 10052 11553 10063 11549 10060 12470 11020 12471 11021 12468 11018 11538 10053 11537 10052 12470 11020 11549 10060 11538 10053 11549 10060 12471 11021 11554 10064 11534 10054 11554 10064 12472 11022 12359 10848 11438 9963 11391 9917 11534 10054 12473 11023 11476 9994 12474 11024 11422 9950 11433 9959 11407 9934 11475 9995 11429 10614 11422 9950 11421 9949 12475 11025 12476 11026 11395 9922 12356 10844 11417 9945 11394 9921 11367 9897 12359 10848 11391 9917 11385 9925 11397 9924 12461 11008 11395 9922 11391 9917 11438 9963 11418 9946 11416 9944 11425 9961 11436 10856 11437 9962 11416 9944 11417 9945 12477 11027 11377 9905 12466 11013 11377 9905 12465 11012 12459 11006 11373 9901 12466 11013 11365 9893 11392 9919 11381 9909 11405 9932 11378 9906 11377 9905 12477 11027 12477 11027 12466 11013 11373 9901 12449 10996 12467 11014 11354 9883 11354 9883 11356 9885 12449 10996 12453 11000 12467 11014 12458 11005 12465 11012 11354 9883 12467 11014 12449 10996 12478 11028 12452 10999 12478 11028 12449 10996 12451 10998 11544 10058 11560 10071 11737 10243 11560 10071 11544 10058 11540 10072 12472 11022 11554 10064 12471 11021 12473 11023 11534 10054 12472 11022 11429 10614 11476 9994 12473 11023 11408 9935 11407 9934 11429 10614 11389 9915 12377 10872 12363 10852 11416 9944 11436 10856 11405 9932 11437 9962 11417 9945 11418 9946 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10858 11469 10619 12484 11034 12378 10873 12375 10867 11426 10857 11470 10624 11410 9938 11390 9916 11389 9915 11426 10857 12368 10859 11436 10856 11422 9950 12475 11025 12355 10843 12368 10859 12367 10858 11412 9941 11396 9923 11395 9922 12492 11044 12463 11010 11395 9922 12461 11008 11378 9906 11402 9929 11379 9907 11402 9929 11390 9916 11410 9938 12463 11010 12462 11009 12493 11045 11395 9922 12463 11010 12479 11029 12493 11045 12486 11036 12463 11010 11546 11046 12494 11047 11547 11017 11741 11015 12494 11047 11543 10042 11547 11017 12494 11047 11741 11015 12490 11048 12473 11048 12489 11048 11446 11049 11429 11049 12490 11049 11471 9990 12358 10847 12376 10868 11471 9990 12370 10861 12365 10853 12363 10852 11440 9965 11410 9938 12367 10858 11389 9915 11388 9914 12369 10860 12368 10859 12375 10867 11423 9952 11422 9950 12495 11050 11389 9915 12367 10858 12377 10872 12355 10843 11395 9922 11422 9950 11395 9922 12476 11026 12496 11051 11402 9929 11411 9939 12479 11029 11422 9950 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10048 11742 10249 12499 11056 12485 11035 12498 11055 12490 11061 12489 11061 12499 11061 12128 10616 11446 10864 12501 11058 12502 11062 12490 11062 12499 11062 12503 11063 12128 10616 12501 11058 11459 9983 12504 11064 12376 10868 12505 11065 12382 11066 12376 10868 11465 9988 12375 10867 11470 10624 12376 10868 12382 11066 12381 10875 11468 10625 11470 10624 11466 10618 12131 10622 12144 10639 12377 10872 12130 10621 12132 10623 11464 9986 12363 10852 12362 10851 11440 9965 12362 10851 12144 10639 12491 11043 11788 10292 11728 10229 11792 10296 11543 10042 12494 11047 11531 10049 12482 11032 11743 11054 12483 11040 12501 11058 12490 11059 12502 11067 12129 10617 12128 10616 12503 11063 12500 11068 12129 10617 12506 11069 12507 11070 12503 11063 12501 11058 12129 10617 12503 11063 12506 11069 11459 9983 12508 11071 12509 11072 12500 11068 11467 10620 12129 10617 11459 9983 12509 11072 12504 11064 11464 9986 12132 10623 11465 9988 12135 10629 12491 11043 12346 10871 12135 10629 12358 10847 12491 11043 12130 10621 12145 10640 12131 10622 11464 9986 11462 9989 11461 9987 12345 10870 12130 10621 11463 9985 12145 10640 12346 10871 12491 11043 12376 10868 12358 10847 12135 10629 11473 9992 12371 10862 11471 9990 11401 9928 11406 9933 11413 9942 11393 9920 11386 9912 11401 9928 11802 10306 12510 11073 11774 10278 11774 10278 12510 11073 11775 10279 12511 11074 11819 11074 12497 11074 12494 11047 12497 11052 11531 10049 12497 11052 11819 10323 11531 10049 12483 11040 12512 11075 12498 11055 12507 11070 12501 11058 12502 11067 12524 11076 12514 11076 12500 11076 12503 11063 12513 11077 12506 11069 12366 10855 12345 10870 12515 11078 11459 9983 12516 11079 12517 11080 12517 11080 12508 11071 11459 9983 11463 9985 12130 10621 11464 9986 11462 9989 11468 10625 12134 10628 12135 10629 11459 9983 12376 10868 12345 10870 12346 10871 12145 10640 12124 11081 11463 9985 11461 9987 12346 10871 12366 10855 12135 10629 12504 11064 12518 11082 12376 10868 12505 11065 12376 10868 12518 11082 11431 9956 11409 9937 11414 9943 11807 10311 12519 11083 11777 10281 11776 10280 11777 10281 12519 11083 12520 11084 11819 10323 12511 11085 11744 10252 12520 11084 11769 10271 11745 10050 11531 10049 11819 10323 12512 11075 12483 11040 11743 11054 11480 10613 12542 11086 12521 11087 12498 11088 12522 11088 12523 11088 12513 11077 12503 11063 12507 11070 12499 11089 12523 11089 12502 11089 12525 11090 12514 11090 12524 11090 12133 11091 11466 11091 12514 11091 12500 11068 12506 11069 12524 11092 11466 11093 12500 11093 12514 11093 12134 11094 11466 11094 12133 11094 12345 10870 11463 9985 12526 11095 11455 9979 12372 10863 11459 9983 12118 10627 11461 9987 12134 10628 11459 9983 12527 11096 12516 11079 11463 9985 12124 11081 12526 11095 12528 11097 11459 9983 12529 11098 12528 11097 12527 11096 11459 9983 12515 11078 12345 10870 12526 11095 12372 10863 12530 11099 11459 9983 12529 11098 11459 9983 12530 11099 11442 9967 11430 9955 11427 9953 11766 10275 11770 10272 11777 10281 11766 10275 11776 10280 11765 10276 11772 10274 11808 10312 11770 10272 11777 10281 11770 10272 11808 10312 11769 10271 12520 11084 11820 11100 11820 11100 11815 10319 11769 10271 12542 11086 11480 10613 11530 10048 12521 11087 11743 11054 11480 10613 12522 11101 12498 11055 12512 11075 12523 11102 12499 11102 12498 11102 12513 11077 12532 11103 12506 11069 12507 11070 12502 11067 12531 11104 12343 11105 12149 11105 12525 11105 12514 11106 12149 11106 12133 11106 12526 11095 12124 11081 12533 11107 12515 11078 12534 11108 12366 10855 12117 11109 11461 9987 12118 10627 12535 11110 12536 11111 11460 9984 12537 11112 12533 11107 12124 11081 11458 9982 11455 9979 12361 10850 11456 9980 11452 9976 12360 10849 12534 11108 12515 11078 12526 11095 12536 11111 12538 11113 11455 9979 12535 11110 11460 9984 12366 10855 11460 9984 12536 11111 11455 9979 11452 9976 12538 11113 12348 10836 11455 9979 12538 11113 11452 9976 12539 11114 12538 11113 12536 11111 12141 10636 12140 10635 11441 9966 11766 10275 11771 10273 11770 10272 12540 11115 11814 10318 11818 10322 11771 10273 11815 10319 11772 10274 11819 10323 12520 11084 11744 10252 11817 10321 11767 10269 11771 10273 12123 10611 11768 10270 12541 11116 11815 10319 11767 10269 11769 10271 11743 11054 12521 11087 12512 11075 12531 11117 12502 11117 12523 11117 12532 11118 12557 11118 12524 11118 12532 11119 12524 11119 12506 11119 12118 10627 12133 10626 12149 10832 12537 11120 11461 11120 12117 11120 12533 11107 12543 11121 12526 11095 12537 11112 12124 11081 11461 9987 12526 11095 12544 11122 12534 11108 12535 11110 12545 11123 12546 11124 12539 11114 12536 11111 12546 11124 12534 11108 12535 11110 12366 10855 12526 11095 12543 11121 12544 11122 12547 11125 12538 11113 12539 11114 12535 11110 12534 11108 12545 11123 12350 10839 12348 10836 12548 11126 12536 11111 12535 11110 12546 11124 12549 11127 12350 10839 12548 11126 12549 11127 12142 10637 12350 10839 11452 9976 12348 10836 12126 10643 12548 11126 12348 10836 12547 11125 11809 10313 11724 10225 11723 10224 12550 11128 12551 11129 12552 11130 11767 10269 11815 10319 11771 10273 11817 10321 11766 10275 12553 11131 11814 10318 11813 10317 12550 11128 12553 11131 12541 11116 11817 10321 11751 10258 12123 10611 12554 11132 11767 10269 12541 11116 11768 10270 11484 10003 12122 10610 12542 11086 11768 10270 11744 10252 11769 10271 12542 11086 11747 10254 12521 11087 11481 11053 11524 10041 11530 10048 12555 11133 12507 11070 12556 11134 12513 11077 12555 11133 12532 11103 12525 11135 12149 11135 12514 11135 12149 10832 12344 10831 12118 10627 12150 11136 12533 11136 12537 11136 12544 11122 12545 11123 12534 11108 12538 11113 12547 11125 12348 10836 12558 11137 12549 11127 12548 11126 12553 11131 11766 10275 11724 10225 11818 10322 11811 10315 11810 10314 12559 11138 12560 11139 12561 11140 12541 11116 11767 10269 11817 10321 12553 11131 11724 10225 12562 11141 12550 11128 12552 11130 12559 11138 12562 11141 12554 11132 12553 11131 12563 11142 12564 11143 12565 11144 12541 11116 12554 11132 12123 10611 11768 10270 12123 10611 11525 10043 11524 10041 11481 11053 11543 10042 11744 10252 11507 10024 11745 10050 11745 10050 11523 10040 11543 10042 11484 10003 12542 11086 11530 10048 12521 11087 11746 10253 12566 10612 12522 11101 12512 11075 12567 10002 12556 11134 12507 11070 12531 11104 12555 11133 12513 11077 12507 11070 12557 11145 12568 11145 12525 11145 12524 11146 12557 11146 12525 11146 12150 11147 12537 11147 12117 11147 12539 11148 12546 11148 12570 11148 12546 11149 12545 11149 12570 11149 11811 10315 12562 11141 11724 10225 11812 10316 11814 10318 12540 11115 12563 11142 12571 11150 12564 11143 12554 11132 12541 11116 12553 11131 12562 11141 11811 10315 12572 11151 12559 11138 12561 11140 12563 11142 12572 11151 12573 11152 12562 11141 12573 11152 11489 10008 11751 10258 12554 11132 12573 11152 11751 10258 11526 10044 12123 10611 11751 10258 11524 10041 11485 10004 11484 10003 12566 10612 12512 11075 12521 11087 12542 11086 12122 10610 11747 10254 11747 10254 11746 10253 12521 11087 12567 11153 12523 11153 12522 11153 12566 10612 12567 10002 12512 11075 12531 11154 12523 11154 12574 11154 12532 11155 12575 11155 12557 11155 12533 11156 12275 11156 12543 11156 12543 11157 12274 11157 12544 11157 12344 11158 12099 11158 12117 11158 12545 11159 12577 11159 12570 11159 12339 11160 12275 11160 12533 11160 12543 11161 12275 11161 12274 11161 12545 11162 12544 11162 12577 11162 12548 11163 12547 11163 12579 11163 12539 11164 12570 11164 12578 11164 12547 11165 12580 11165 12579 11165 11814 10318 12572 11151 11811 10315 12551 11129 12550 11128 11813 10317 12564 11143 12581 11166 12565 11144 12573 11152 12554 11132 12562 11141 12572 11151 11814 10318 12582 11167 12583 11168 11510 10027 11509 10026 11487 10006 12572 11151 12582 11167 12584 11169 11509 10026 12585 11170 11487 10006 11489 10008 12573 11152 11519 10034 11751 10258 11489 10008 11514 10031 12122 10610 11486 10005 11529 10047 11528 10046 12586 11171 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https://grabcad.com/library/configurable-propdrive-v2-brushless-motor-with-mount-plate-solidworks-2019-1 + + + diff --git a/Gazebo/models/mini_talon_vtail/model.sdf b/Gazebo/models/mini_talon_vtail/model.sdf new file mode 100644 index 00000000..8a6f8f97 --- /dev/null +++ b/Gazebo/models/mini_talon_vtail/model.sdf @@ -0,0 +1,992 @@ + + + + + + + 0 0 0 0 0 0 + 1.8 + + 0.024607948 + 0 + 0 + 0.086155637 + 0 + 0.103828985 + + + + + 0 0 0 0 0 0 + + + model://mini_talon_vtail/meshes/mini_talon_fuselage_collision.stl + + + + + + 0 0 0 0 0 0 + + + model://mini_talon_vtail/meshes/mini_talon_left_wing_collision.stl + + + + + + 0 0 0 0 0 0 + + + model://mini_talon_vtail/meshes/mini_talon_right_wing_collision.stl + + + + + + 0 0 0 0 0 0 + + + model://mini_talon_vtail/meshes/mini_talon_left_tail_collision.stl + + + + + + 0 0 0 0 0 0 + + + model://mini_talon_vtail/meshes/mini_talon_right_tail_collision.stl + + + + + + 0 0 0 0 0 0 + + + model://mini_talon_vtail/meshes/mini_talon_fuselage.dae + + + + + 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