jsbsim.js
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JSBSim flight dynamics model ported to JavaScript
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text/xml
<?xml version="1.0"?>
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
<fdm_config name="Cessna C-172 Skyhawk II" version="2.0" release="BETA"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
<fileheader>
<author>Tony Peden</author>
<license
licenseName="GPL (General Public License)"
licenseURL="http://www.gnu.org/licenses/gpl.html"/>
<note>
This model was created using publicly available data, publicly available
technical reports, textbooks, and guesses. It contains no proprietary or
restricted data. It has been validated only to the extent that it seems
to "fly right", and possibly to comply to published, publicly known,
performance data (maximum speed, endurance, etc.). Thus, this model
is meant for educational and entertainment purposes only.
This simulation model is not endorsed by the manufacturer. This model
is not to be sold.
</note>
<filecreationdate>1999-01-01</filecreationdate>
<version>$Revision: 1.91 $</version>
<description>Models a 1982 Cessna 172P.</description>
<reference
refID= "1"
author= "Cessna Aircraft Company"
title= "Information Manual Skyhawk Model 172P"
date= "1982"/>
<reference
refID= "2"
author= "FAA"
title= "Type Certificate Data Sheet No. 3A12"
date= "5 May 2011"/>
</fileheader>
<metrics>
<wingarea unit="FT2"> 174.0 </wingarea>
<wingspan unit="FT"> 36.0 </wingspan>
<chord unit="FT"> 4.9 </chord>
<htailarea unit="FT2"> 21.9 </htailarea>
<htailarm unit="FT"> 15.7 </htailarm>
<vtailarea unit="FT2"> 16.5 </vtailarea>
<vtailarm unit="FT"> 15.7 </vtailarm>
<location name="AERORP" unit="IN">
<x> 43.2 </x>
<y> 0.0 </y>
<z> 59.4 </z>
</location>
<location name="EYEPOINT" unit="IN">
<x> 37.0 </x>
<y> 0.0 </y>
<z> 48.0 </z>
</location>
<location name="VRP" unit="IN">
<x> 42.6 </x>
<y> 0.0 </y>
<z> 38.5 </z>
</location>
</metrics>
<mass_balance>
<ixx unit="SLUG*FT2"> 948.0 </ixx>
<iyy unit="SLUG*FT2"> 1346.0 </iyy>
<izz unit="SLUG*FT2"> 1967.0 </izz>
<ixz unit="SLUG*FT2"> 0.0 </ixz>
<emptywt unit="LBS"> 1454.0 </emptywt>
<location name="CG" unit="IN">
<x> 41.0 </x>
<y> 0.0 </y>
<z> 36.5 </z>
</location>
<pointmass name="PILOT">
<weight unit="LBS">190.0</weight>
<location unit="IN">
<x> 36.0 </x>
<y> -14.0 </y>
<z> 24.0 </z>
</location>
</pointmass>
<pointmass name="CO-PILOT">
<weight unit="LBS">140.0</weight>
<location unit="IN">
<x> 36.0 </x>
<y> 14.0 </y>
<z> 24.0 </z>
</location>
</pointmass>
<pointmass name="PASSENGER 1">
<weight unit="LBS">130.0</weight>
<location unit="IN">
<x> 60.0 </x>
<y> -14.0 </y>
<z> 24.0 </z>
</location>
</pointmass>
<pointmass name="PASSENGER 2">
<weight unit="LBS">106.0</weight>
<location unit="IN">
<x> 60.0 </x>
<y> 14.0 </y>
<z> 24.0 </z>
</location>
</pointmass>
<pointmass name="LUGGAGE">
<weight unit="LBS">120.0</weight>
<location unit="IN">
<x> 95.0 </x>
<y> 0.0 </y>
<z> 24.0 </z>
</location>
</pointmass>
<pointmass name="PesticideBomb">
<weight unit="LBS">80.0</weight>
<location unit="IN">
<x> 41.0 </x>
<y> 144.0 </y>
<z> 36.0 </z>
</location>
</pointmass>
</mass_balance>
<ground_reactions>
<contact type="BOGEY" name="Nose Gear">
<location unit="IN">
<x> -6.8 </x>
<y> 0.0 </y>
<z> -20.0 </z>
</location>
<static_friction>0.8</static_friction>
<dynamic_friction>0.5</dynamic_friction>
<rolling_friction>0.022</rolling_friction>
<spring_coeff unit="LBS/FT">1800</spring_coeff>
<damping_coeff unit="LBS/FT/SEC">500</damping_coeff>
<damping_coeff_rebound unit="LBS/FT/SEC">2000</damping_coeff_rebound>
<max_steer unit="DEG">10</max_steer>
<brake_group>NONE</brake_group>
<retractable>0</retractable>
</contact>
<contact type="BOGEY" name="Left Main Gear">
<location unit="IN">
<x> 58.2 </x>
<y> -50.25 </y>
<z> -18.46 </z>
</location>
<static_friction>0.8</static_friction>
<dynamic_friction>0.5</dynamic_friction>
<rolling_friction>0.022</rolling_friction>
<spring_coeff unit="LBS/FT">5400</spring_coeff>
<damping_coeff unit="LBS/FT/SEC">160</damping_coeff>
<damping_coeff_rebound unit="LBS/FT/SEC">320</damping_coeff_rebound>
<max_steer unit="DEG">0</max_steer>
<brake_group>LEFT</brake_group>
<retractable>0</retractable>
</contact>
<contact type="BOGEY" name="Right Main Gear">
<location unit="IN">
<x> 58.2 </x>
<y> 50.25 </y>
<z> -18.46 </z>
</location>
<static_friction>0.8</static_friction>
<dynamic_friction>0.5</dynamic_friction>
<rolling_friction>0.022</rolling_friction>
<!-- This definition of the bogey strut compression force is exactly
equivalent to the definition of the left main gear. This
alternate definition is intented to serve as an example as well
as to help testing this feature -->
<strut_force>
<function>
<sum>
<product>
<value> -5400. </value>
<property> gear/unit[2]/compression-ft </property>
</product>
<ifthen>
<ge>
<property> gear/unit[2]/compression-velocity-fps </property>
<value> 0.0 </value>
</ge>
<product>
<value> -160. </value>
<property> gear/unit[2]/compression-velocity-fps </property>
</product>
<product>
<value> -320. </value>
<property> gear/unit[2]/compression-velocity-fps </property>
</product>
</ifthen>
</sum>
</function>
</strut_force>
<max_steer unit="DEG">0</max_steer>
<brake_group>RIGHT</brake_group>
<retractable>0</retractable>
</contact>
<contact type="STRUCTURE" name="TAIL_SKID">
<location unit="IN">
<x> 188.0 </x>
<y> 0.0 </y>
<z> 8.0 </z>
</location>
<static_friction>0.2</static_friction>
<dynamic_friction>0.2</dynamic_friction>
<spring_coeff unit="LBS/FT">20000</spring_coeff>
<damping_coeff unit="LBS/FT/SEC">1000</damping_coeff>
</contact>
<contact type="STRUCTURE" name="LEFT_TIP">
<location unit="IN">
<x> 43.2 </x>
<y> -214.8 </y>
<z> 59.4 </z>
</location>
<static_friction>0.2</static_friction>
<dynamic_friction>0.2</dynamic_friction>
<spring_coeff unit="LBS/FT">10000</spring_coeff>
<damping_coeff unit="LBS/FT/SEC">2000</damping_coeff>
</contact>
<contact type="STRUCTURE" name="RIGHT_TIP">
<location unit="IN">
<x> 43.2 </x>
<y> 214.8 </y>
<z> 59.4 </z>
</location>
<static_friction>0.2</static_friction>
<dynamic_friction>0.2</dynamic_friction>
<spring_coeff unit="LBS/FT">10000</spring_coeff>
<damping_coeff unit="LBS/FT/SEC">2000</damping_coeff>
</contact>
</ground_reactions>
<propulsion>
<engine file="eng_io320">
<location unit="IN">
<x>-19.7</x>
<y>0</y>
<z>26.6</z>
</location>
<orient unit="DEG">
<roll>0</roll>
<pitch>0</pitch>
<yaw>0</yaw>
</orient>
<feed>0</feed>
<feed>1</feed>
<thruster file="prop_75in2f">
<location unit="IN">
<x>-37.7</x>
<y>0</y>
<z>26.6</z>
</location>
<orient unit="DEG">
<roll>0</roll>
<pitch>0</pitch>
<yaw>0</yaw>
</orient>
<sense>-1</sense>
<p_factor>10.0</p_factor>
</thruster>
</engine>
<tank type="FUEL"> <!-- Tank number 0 -->
<location unit="IN">
<x>48.0</x>
<y>-112.0</y>
<z>59.4</z>
</location>
<radius unit="IN">29.4</radius>
<capacity unit="LBS">130</capacity>
<contents unit="LBS">130</contents>
</tank>
<tank type="FUEL"> <!-- Tank number 1 -->
<location unit="IN">
<x>48.0</x>
<y>112.0</y>
<z>59.4</z>
</location>
<radius unit="IN">29.4</radius>
<capacity unit="LBS">130</capacity>
<contents unit="LBS">130</contents>
</tank>
</propulsion>
<system name="Navigation">
<channel name="Heading">
<sensor name="navigation/actual-heading-rad">
<input> attitude/heading-true-rad </input>
<!-- <lag> 2500 </lag> -->
<!-- <noise variation="PERCENT"> .02 </noise> -->
<bias> 0.003 </bias>
</sensor>
</channel>
</system>
<system name="Mixture control">
<!--
E = 1.3 * Mixture * P_std / P_amb
Mixture = (P_amb / P_std) / 1.3
-->
<channel name="Automatic Mixture Control">
<fcs_function name="systems/mixture-cmd-norm">
<function>
<quotient>
<table>
<independentVar lookup="row">atmosphere/P-psf</independentVar>
<tableData>
0 0.0
2117 1.0
</tableData>
</table>
<value>1.0</value>
</quotient>
</function>
<output>fcs/mixture-cmd-norm</output>
</fcs_function>
</channel>
</system>
<system file="GNCUtilities"/>
<system file="Autopilot">
<property value="0.523"> guidance/roll-angle-limit </property>
<property value="0.174"> guidance/roll-rate-limit </property>
</system>
<autopilot file="c172ap"/>
<flight_control name="c172">
<channel name="Pitch">
<summer name="fcs/pitch-trim-sum">
<input>ap/elevator_cmd</input>
<input>fcs/elevator-cmd-norm</input>
<input>fcs/pitch-trim-cmd-norm</input>
<clipto>
<min>-1</min>
<max> 1</max>
</clipto>
</summer>
<!--
Map the -1 to +1 input into the range specified below, then
multiply by 0.01745 to convert to radians
-->
<aerosurface_scale name="fcs/elevator-control">
<input>fcs/pitch-trim-sum</input>
<range>
<min>-28</min>
<max> 23</max>
</range>
<gain>0.01745</gain>
</aerosurface_scale>
<actuator name="fcs/elevator-actuator">
<input> fcs/elevator-control </input>
<lag> 60 </lag>
<bias> 0.002 </bias>
<hysteresis_width> 0.05 </hysteresis_width>
<clipto>
<!-- +/- 20 degrees -->
<min> -0.34 </min>
<max> 0.34 </max>
</clipto>
<output>fcs/elevator-pos-rad</output>
</actuator>
</channel>
<channel name="Roll">
<summer name="fcs/roll-trim-sum">
<!-- <input>ap/aileron_cmd</input> -->
<input>ap/roll-cmd-norm-output</input>
<input>fcs/aileron-cmd-norm</input>
<input>fcs/roll-trim-cmd-norm</input>
<clipto>
<min>-1</min>
<max>1</max>
</clipto>
</summer>
<aerosurface_scale name="fcs/left-aileron-control">
<description> The output from this control is in radians. </description>
<input>fcs/roll-trim-sum</input>
<gain>0.01745</gain>
<range>
<min>-20</min>
<max> 15</max>
</range>
</aerosurface_scale>
<actuator name="fcs/left-aileron-actuator">
<description> The input to this actuator is in radians. </description>
<input> fcs/left-aileron-control </input>
<rate_limit> 1.57 </rate_limit>
<hysteresis> 0.005 </hysteresis>
<clipto>
<min> -0.350 </min>
<max> 0.260 </max>
</clipto>
<output>fcs/left-aileron-pos-rad</output>
</actuator>
<aerosurface_scale name="fcs/right-aileron-control">
<description> The output from this control is in radians. </description>
<input>-fcs/roll-trim-sum</input>
<gain>0.01745</gain>
<range>
<min>-20</min>
<max> 15</max>
</range>
</aerosurface_scale>
<actuator name="fcs/right-aileron-actuator">
<description> The input to this actuator is in radians. </description>
<input> fcs/right-aileron-control </input>
<rate_limit> 1.57 </rate_limit>
<hysteresis> 0.005 </hysteresis>
<clipto>
<min> -0.350 </min>
<max> 0.260 </max>
</clipto>
<output>fcs/right-aileron-pos-rad</output>
</actuator>
<summer name="fcs/effective-aileron-pos">
<input> fcs/left-aileron-pos-rad </input>
<input> -fcs/right-aileron-pos-rad </input>
<gain> 0.5 </gain>
</summer>
</channel>
<channel name="Yaw">
<summer name="fcs/yaw-trim-sum">
<input>fcs/rudder-cmd-norm</input>
<input>fcs/yaw-trim-cmd-norm</input>
<clipto>
<min>-1</min>
<max>1</max>
</clipto>
</summer>
<aerosurface_scale name="fcs/rudder-control">
<input>fcs/yaw-trim-sum</input>
<gain>0.01745</gain>
<range>
<min>-16</min>
<max> 16</max>
</range>
<output>fcs/rudder-pos-rad</output>
</aerosurface_scale>
</channel>
<channel name="Flaps">
<kinematic name="fcs/flaps-control">
<input>fcs/flap-cmd-norm</input>
<traverse>
<setting>
<position> 0 </position>
<time> 0 </time>
</setting>
<setting>
<position> 10 </position>
<time> 2 </time>
</setting>
<setting>
<position> 20 </position>
<time> 1 </time>
</setting>
<setting>
<position> 30 </position>
<time> 1 </time>
</setting>
</traverse>
<output>fcs/flap-pos-deg</output>
</kinematic>
<aerosurface_scale name="fcs/flap-position-normalizer">
<input>fcs/flap-pos-deg</input>
<domain>
<min>0</min> <!-- Flaps actual minimum position -->
<max>30</max> <!-- Flaps actual maximum position -->
</domain>
<range>
<min>0</min> <!-- Flaps normalized minimum position -->
<max>1</max> <!-- Flaps normalized maximum position -->
</range>
<output>fcs/flap-pos-norm</output>
</aerosurface_scale>
</channel>
</flight_control>
<aerodynamics>
<alphalimits unit="RAD">
<min>-0.087</min>
<max>0.28</max>
</alphalimits>
<hysteresis_limits unit="RAD">
<min>0.09</min>
<max>0.36</max>
</hysteresis_limits>
<!-- aerodynamic subsystem variables for convenience -->
<function name="aero/angle/right_wing_tip_alpha">
<description>
This parameter calculates the angle of attack at the right wingtip,
accounting for the motion of the wing at that point away from the CG.
</description>
<atan2>
<sum>
<property>velocities/w-aero-fps</property>
<product>
<property>velocities/p-aero-rad_sec</property>
<value>14</value> <!-- distance in feet from CG to wingtip -->
</product>
</sum>
<difference>
<property>velocities/u-aero-fps</property>
<product>
<property>velocities/r-aero-rad_sec</property>
<value>50</value>
</product>
</difference>
</atan2>
</function>
<function name="aero/function/ground-effect-factor-lift">
<description>Change in lift due to ground effect factor.</description>
<table>
<independentVar>aero/h_b-mac-ft</independentVar> <!-- row lookup -->
<tableData>
0.0 1.203
0.1 1.127
0.15 1.090
0.2 1.073
0.3 1.046
0.4 1.055
0.5 1.019
0.6 1.013
0.7 1.008
0.8 1.006
0.9 1.003
1.0 1.002
1.1 1.0
</tableData>
</table>
</function>
<function name="aero/function/ground-effect-factor-drag">
<description>Change in drag due to ground effect</description>
<table>
<independentVar>aero/h_b-mac-ft</independentVar>
<tableData>
0.0 0.480
0.1 0.515
0.15 0.629
0.2 0.709
0.3 0.815
0.4 0.882
0.5 0.928
0.6 0.962
0.7 0.988
0.8 1.0
0.9 1.0
1.0 1.0
1.1 1.0
</tableData>
</table>
</function>
<axis name="LIFT">
<!-- Lift axis coefficients functions -->
<function name="aero/coefficient/CLwbh">
<description>Lift due to alpha</description>
<product>
<property>aero/function/ground-effect-factor-lift</property>
<property>aero/qbar-area</property>
<table>
<independentVar lookup="row">aero/alpha-rad</independentVar>
<independentVar lookup="column">aero/stall-hyst-norm</independentVar>
<tableData>
0.0 1.0
-0.09 -0.22 -0.22
0.0 0.25 0.25
0.09 0.73 0.73
0.1 0.83 0.78
0.12 0.92 0.79
0.14 1.02 0.81
0.16 1.08 0.82
0.17 1.13 0.83
0.19 1.19 0.85
0.21 1.25 0.86
0.24 1.35 0.88
0.26 1.44 0.9
0.28 1.47 0.92
0.3 1.43 0.95
0.32 1.38 0.99
0.34 1.3 1.05
0.36 1.15 1.15
</tableData>
</table>
</product>
</function>
<function name="aero/coefficient/CLDf">
<description>Delta lift due to flap deflection</description>
<product>
<property>aero/function/ground-effect-factor-lift</property>
<property>aero/qbar-area</property>
<table>
<independentVar>fcs/flap-pos-deg</independentVar>
<tableData>
0.0 0.0
10.0 0.25
20.0 0.30
30.0 0.35
</tableData>
</table>
</product>
</function>
<function name="aero/coefficient/CLDe">
<description>Lift due to Elevator Deflection.</description>
<product>
<property>aero/qbar-area</property>
<property>fcs/elevator-pos-rad</property>
<value>0.347</value>
</product>
</function>
<function name="aero/coefficient/CLadot">
<description>Lift due to alpha rate</description>
<product>
<property>aero/qbar-area</property>
<property>aero/alphadot-rad_sec</property>
<property>aero/ci2vel</property>
<value>1.7</value>
</product>
</function>
<function name="aero/coefficient/CLq">
<description>Lift due to pitch rate</description>
<product>
<property>aero/qbar-area</property>
<property>velocities/q-aero-rad_sec</property>
<property>aero/ci2vel</property>
<value>3.9</value>
</product>
</function>
<function name="aero/coefficient/CLalpha">
<description>Lift per radian of Alpha</description>
<product>
<property>aero/qbar-area</property>
<property>aero/alpha-rad</property>
<table>
<independentVar lookup="row">aero/alpha-deg</independentVar>
<independentVar lookup="column">aero/beta-deg</independentVar>
<independentVar lookup="table">fcs/flap-pos-deg</independentVar>
<tableData breakPoint="-5">
-10.000000 -5.000000 -4.000000 -3.000000 -2.000000 -1.000000 0.000000 1.000000 2.000000 3.000000 4.000000 5.000000 10.000000
-10.000000 4.579224 4.683079 4.695652 4.705446 4.712455 4.716665 4.718074 4.716681 4.712483 4.705490 4.695709 4.683151 4.579366
-9.000000 4.588575 4.692626 4.705221 4.715036 4.722056 4.726275 4.727687 4.726290 4.722086 4.715080 4.705281 4.692699 4.588721
-8.000000 4.594747 4.698920 4.711531 4.721357 4.728385 4.732611 4.734025 4.732626 4.728416 4.721402 4.711592 4.698996 4.594897
-7.000000 4.597723 4.701945 4.714562 4.724392 4.731425 4.735653 4.737066 4.735669 4.731457 4.724439 4.714625 4.702023 4.597878
-6.000000 4.597490 4.701688 4.714302 4.724130 4.731162 4.735388 4.736802 4.735404 4.731195 4.724177 4.714366 4.701768 4.597648
-5.000000 4.594041 4.698139 4.710741 4.720562 4.727585 4.731808 4.733220 4.731825 4.727618 4.720610 4.710807 4.698220 4.594201
-4.000000 4.587374 4.691299 4.703880 4.713682 4.720695 4.724911 4.726322 4.724928 4.720729 4.713732 4.703947 4.691382 4.587537
-3.000000 4.577491 4.681170 4.693721 4.703501 4.710497 4.714704 4.716111 4.714720 4.710532 4.703551 4.693788 4.681253 4.577657
-2.000000 4.564407 4.667766 4.680278 4.690028 4.697003 4.701195 4.702599 4.701213 4.697039 4.690079 4.680347 4.667851 4.564577
-1.000000 4.548137 4.651103 4.663567 4.673279 4.680228 4.684404 4.685803 4.684422 4.680264 4.673332 4.663638 4.651189 4.548309
0.000000 4.528703 4.631201 4.643609 4.653277 4.660196 4.664353 4.665745 4.664372 4.660232 4.653332 4.643680 4.631289 4.528878
1.000000 4.506134 4.608094 4.620437 4.630056 4.636937 4.641072 4.642456 4.641090 4.636972 4.630109 4.620509 4.608183 4.506310
2.000000 4.480464 4.581812 4.594082 4.603642 4.610483 4.614594 4.615971 4.614612 4.610519 4.603697 4.594154 4.581903 4.480642
3.000000 4.451731 4.552399 4.564587 4.574084 4.580878 4.584962 4.586330 4.584980 4.580915 4.574139 4.564660 4.552491 4.451910
4.000000 4.419983 4.519904 4.531998 4.541425 4.548169 4.552222 4.553580 4.552240 4.548207 4.541480 4.532073 4.519995 4.420165
5.000000 4.385270 4.484371 4.496370 4.505717 4.512407 4.516426 4.517773 4.516445 4.512444 4.505773 4.496444 4.484464 4.385452
6.000000 4.347646 4.445863 4.457754 4.467019 4.473649 4.477633 4.478968 4.477653 4.473686 4.467075 4.457829 4.445956 4.347829
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