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followme_e-tron-limo.xml
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followme_e-tron-limo.xml
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<?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>Sidi Liang</author>
<filecreationdate>2020-06-10</filecreationdate>
<version>0.1</version>
<description>A follow me car limo version</description>
</fileheader>
<metrics>
<wingarea unit="M2">1</wingarea>
<wingspan unit="M">1</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>-0.3 </x>
<y>0.0 </y>
<z>2.10</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"> 4275 </emptywt>
<location name="CG" unit="M">
<x> 2.90 </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>
<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>
<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> RIGHT </brake_group>
<retractable>0</retractable>
</contact>
<contact type="BOGEY" name="BL">
<location unit="M">
<x> 4.68</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>
<spring_coeff unit="LBS/FT"> 5400 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 1600 </damping_coeff>
<max_steer unit="DEG"> -5 </max_steer>
<brake_group> LEFT </brake_group>
<retractable>0</retractable>
</contact>
<contact type="BOGEY" name="BR">
<location unit="M">
<x> 4.68</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>
<spring_coeff unit="LBS/FT"> 5400 </spring_coeff>
<damping_coeff unit="LBS/FT/SEC"> 1600 </damping_coeff>
<max_steer unit="DEG"> -5 </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>5.27</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>5.23</x>
<y>0.73</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>5.23</x>
<y>-0.73</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>5.30</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>5.30</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>5.31</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>5.13</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>5.00</x>
<y>0.37</y>
<z>1.76</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="display2">
<location unit="M">
<x>5.00</x>
<y>-0.37</y>
<z>1.76</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="Wing1">
<location unit="M">
<x>2.12</x>
<y>0.8</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="Wing2">
<location unit="M">
<x>2.12</x>
<y>-0.8</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="Wing3">
<location unit="M">
<x>4.12</x>
<y>0.8</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="Wing4">
<location unit="M">
<x>4.12</x>
<y>-0.8</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="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> 4.68</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> 4.68</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="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>