followme_e-tron.xml

<?xml-stylesheet href="JSBSim.xsl" type="application/xml"?>
<fdm_config xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd" name="SenecaII"
    version="2.0" release="BETA">

    <fileheader>
        <author>Torsten Dreyer, Gijs de Rooy, Sidi Liang</author>
        <filecreationdate>2010-08-24</filecreationdate>
        <version>0.1</version>
        <description>A follow me car</description>
    </fileheader>

    <metrics>
        <wingarea unit="M2">1</wingarea>
        <wingspan unit="M">1.6</wingspan>
        <chord unit="M">2</chord>
        <htailarea unit="M2">1</htailarea>
        <htailarm unit="M">1</htailarm>
        <vtailarea unit="M2">1</vtailarea>
        <vtailarm unit="M">1</vtailarm>
        <location name="AERORP" unit="M">
            <x>0</x>
            <y>0</y>
            <z>1.20</z>
        </location>
        <location name="EYEPOINT" unit="M">
            <x>1.5 </x>
            <y>0.33 </y>
            <z>1.20</z>
        </location>
        <location name="VRP" unit="M">
            <x> 0.0 </x>
            <y> 0.0 </y>
            <z> 0.0 </z>
        </location>
    </metrics>

    <mass_balance>
        <ixx unit="SLUG*FT2"> 5596 </ixx>
        <iyy unit="SLUG*FT2"> 5334 </iyy>
        <izz unit="SLUG*FT2"> 11945 </izz>
        <ixz unit="SLUG*FT2"> 0 </ixz>
        <emptywt unit="KG"> 1575 </emptywt>
        <location name="CG" unit="M">
            <x> 1.5 </x>
            <y> 0.0 </y>
            <z> 0.4 </z>
        </location>
    </mass_balance>

    <ground_reactions>
        <contact type="BOGEY" name="FL">
            <location unit="M">
                <x> 0.68</x>
                <y>-0.66</y>
                <z>-0.02</z>
            </location>
            <static_friction> 1.7 </static_friction>
            <dynamic_friction> 1.0 </dynamic_friction>
            <rolling_friction> 0.06 </rolling_friction>
			<table name="CORNERING_COEFF" type="internal">
			  <tableData>
			    -10. -1.0
			    -2.0 -1.0
			     2.0  1.0
			     10.  1.0
			  </tableData>
			</table>
            <spring_coeff unit="LBS/FT"> 5400 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC"> 1600 </damping_coeff>
            <max_steer unit="DEG"> 45 </max_steer>
            <brake_group> LEFT </brake_group>
            <retractable>0</retractable>
        </contact>
        <contact type="BOGEY" name="FR">
            <location unit="M">
                <x> 0.68</x>
                <y> 0.66</y>
                <z>-0.02</z>
            </location>
            <static_friction> 1.7 </static_friction>
            <dynamic_friction> 1.0 </dynamic_friction>
            <rolling_friction> 0.06 </rolling_friction>
			<table name="CORNERING_COEFF" type="internal">
			  <tableData>
			    -10. -1.0
			    -2.0 -1.0
			     2.0  1.0
			     10.  1.0
			  </tableData>
			</table>
            <spring_coeff unit="LBS/FT"> 5400 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC"> 1600 </damping_coeff>
            <max_steer unit="DEG"> 45 </max_steer>
            <brake_group> LEFT </brake_group>
            <retractable>0</retractable>
        </contact>
        <contact type="BOGEY" name="BL">
            <location unit="M">
                <x> 3.17</x>
                <y>-0.66</y>
                <z>-0.03</z>
            </location>
            <static_friction> 1.7 </static_friction>
            <dynamic_friction> 1.5 </dynamic_friction>
            <rolling_friction> 0.06 </rolling_friction>
			<table name="CORNERING_COEFF" type="internal">
			  <tableData>
			    -10. -1.0
			    -2.0 -1.0
			     2.0  1.0
			     10.  1.0
			  </tableData>
			</table>
            <spring_coeff unit="LBS/FT"> 5400 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC"> 1600 </damping_coeff>
            <max_steer unit="DEG"> 0 </max_steer>
            <brake_group> RIGHT </brake_group>
            <retractable>0</retractable>
        </contact>
        <contact type="BOGEY" name="BR">
            <location unit="M">
                <x> 3.17</x>
                <y> 0.66</y>
                <z>-0.03</z>
            </location>
            <static_friction> 1.7 </static_friction>
            <dynamic_friction> 1.5 </dynamic_friction>
            <rolling_friction> 0.06 </rolling_friction>
			<table name="CORNERING_COEFF" type="internal">
			  <tableData>
			    -10. -1.0
			    -2.0 -1.0
			     2.0  1.0
			     10.  1.0
			  </tableData>
			</table>
            <spring_coeff unit="LBS/FT"> 5400 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC"> 1600 </damping_coeff>
            <max_steer unit="DEG"> 0 </max_steer>
            <brake_group> RIGHT </brake_group>
            <retractable>0</retractable>
        </contact>
        <contact type="STRUCTURE" name="Bottom_front">
            <location unit="M">
                <x>0.08</x>
                <y>0</y>
                <z>0.27</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="Bottom_front_1">
            <location unit="M">
                <x>0.01</x>
                <y>0</y>
                <z>0.44</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="Bottom_left_bump">
            <location unit="M">
                <x>0.02</x>
                <y>0.40</y>
                <z>0.34</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="Bottom_right_bump">
            <location unit="M">
                <x>0.02</x>
                <y>-0.40</y>
                <z>0.34</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="Bottom2">
            <location unit="M">
                <x>3.75</x>
                <y>0</y>
                <z>0.38</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="Front">
            <location unit="M">
                <x>0</x>
                <y>0</y>
                <z>0.54</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="FrontLeft">
            <location unit="M">
                <x>0.14</x>
                <y>0.66</y>
                <z>0.54</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="FrontRight">
            <location unit="M">
                <x>0.14</x>
                <y>-0.66</y>
                <z>0.54</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="BackSide1">
            <location unit="M">
                <x>3.00</x>
                <y>0.80</y>
                <z>0.75</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="BackSide2">
            <location unit="M">
                <x>3.00</x>
                <y>-0.80</y>
                <z>0.75</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="Back">
            <location unit="M">
                <x>3.80</x>
                <y>0</y>
                <z>0.62</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="BackLeft">
            <location unit="M">
                <x>3.71</x>
                <y>0.73</y>
                <z>0.76</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="BackRight">
            <location unit="M">
                <x>3.71</x>
                <y>-0.73</y>
                <z>0.76</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="Top1">
            <location unit="M">
                <x>0.3</x>
                <y>0</y>
                <z>0.90</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="Top2">
            <location unit="M">
                <x>3.61</x>
                <y>0</y>
                <z>1.73</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="display1">
            <location unit="M">
                <x>3.40</x>
                <y>0.37</y>
                <z>1.90</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="display2">
            <location unit="M">
                <x>3.40</x>
                <y>-0.37</y>
                <z>1.90</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="Wing1">
            <location unit="M">
                <x>2.12</x>
                <y>0.8</y>
                <z>0.9</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="Wing2">
            <location unit="M">
                <x>2.12</x>
                <y>-0.8</y>
                <z>0.9</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="Mirror1">
            <location unit="M">
                <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="Mirror2">
            <location unit="M">
                <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="Armrest" execrate="2">
            <fcs_function name="animation/armrest_nul">
			    <function>
				    <table>
					    <independentVar lookup="row">/controls/interior/armrest_cover_pos</independentVar>
					    <tableData>
						    0.00  0.0
						    0.95  1.0
					    </tableData>
				    </table>
			    </function>
		    </fcs_function>
            <lag_filter name="animation/armrest_cover_pos">
		        <input>animation/armrest_nul</input>
			    <c1>8</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>6</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>