<?xml version="1.0" encoding="iso-8859-1" ?>
<CRRCSim_airplane version="2">
  <name>
    <en>Wasabi</en>
  </name>
  <categories>
    <category>Gliders</category>
    <category>Aerobatic</category>
  </categories>
  <description>
    <en>
Wasabi, extreme aerobatic slope glider.
(http://www.flybiwo.com/ and http://www.baudismodel.com/)

To fully enjoy flying with Wasabi please select "load 
mixer default" to automatically setup the preset mixers
(flap & spoiler compensation and snap-flap settings).
For more info see suggestions in model/wasabi.xml and
in documentation/models/Readmefirst_Wasabi.txt.
CRRCsim model created by Luca Gasparini.
    </en>
  </description>
  <changelog>
    <change>
      <date>25-Nov-2011</date>
      <author>Luca Gasparini</author>
      <en>
3D model with Blender, aero/inertia with XFLR5+AVL.
      </en>
    </change>
    <change>
      <date>26-Feb-2012</date>
      <author>Luca Gasparini</author>
      <en>
Added mixer default setting and modified control setup
to allow use of landing flap activated by spoiler axis.
      </en>
    </change>
    <change>
      <date>29-Dec-2012</date>
      <author>Luca Gasparini</author>
      <en>
Increased CD_prof (higher parasite drag) and flap drag.
Improved estimate of inertias.
Should be a more realistic modelling.
      </en>
    </change>
  </changelog>
  <aero version="1" units="1">
    <!-- 
      Control derivatives for CRRCSIM are computed as:
      CRCSIM_der = AVL_der * control_travel_deg / 0.5
      Assumed control travel are: 
        de=+/-8deg 
        dr=+/-20deg 
        da=+/-15deg 
        flaps=+/-30deg.
      Note that actual flap range should be limited to +/-8deg as camber 
      changing flap (e.g. as snap flap), while 30deg down deflection is 
      to be used for landing.
      Best flown with snap-flap, using following mixer settings:
        elevator: rate=0.6 (i.e. +/-4.8deg)
        flap:     -travel=0.133, +travel=0.133
        mixer1:   elevator-to-flap mixing rate=0.533
                  (flap +/-8deg with ele +/-4deg)
        mixer2:   flap-to-elevator mixing rate=-0.467 
                  (elevator compensation 1deg down for 8deg flap down, to trim a DCL=0.8)
        mixer3:   spoiler-to-flap mixing rate=-0.5 
                  (flap down 30deg with full spoiler)
        mixer4:   spoiler-to-elevator mixing rate=0.234 
                  (elevator 6deg down for 30deg flap down)
                  
      AVL control derivatives in standard orientation stability axis
      (for 1deg of control deflection):
        CL_de= 0.0134
        Cm_de=-0.0375
        CY_dr=-0.00384
        CY_da= 0.00115
        Cl_dr=-0.000128
        Cl_da=-0.0105
        Cn_dr= 0.00146
        Cn_da=-0.000414
        CL_flaps=-0.0553
        Cm_flaps=-0.0084

      Note: CY_b and Cn_b are likely respectively under and overestimate
      due to the missing large (in side view) fuselage, in AVL model.
      Therefore the original values
        CY_b=-0.226
        Cn_b= 0.0887
      have been corrected (just guessing) by factors 2.0 and 1/1.5 respectively.
      
      CD_prof, Uexp_Cd, CD_CLsq and CD_flaps data from TP42 & TP29-9% polars fit,
      plus estimated fuse & tail drag (from surface area).
      Reference Re=200000.
    -->
    <ref chord="0.177" span="1.5" area="0.262" speed="16.5" />
    <misc Alpha_0="0.0189" eta_loc="0.3" CG_arm="0.25" span_eff="0.93" />
    <m Cm_0="0.0" Cm_a="-0.592" Cm_q="-14.4" 
      Cm_de="-0.600" />
    <lift CL_0="0.1" CL_CD0="0.0" CL_max="0.8" CL_min="-0.8"  CL_drop="0.2"
      CL_a="5.29" CL_q="8.31" CL_de="0.214"/>
    <drag CD_prof="0.0140" Uexp_CD="-0.35" CD_CLsq="0.0315" CD_stall="0.05"
      CD_AIsq="0.01" CD_ELsq="0.0" />
    <Y CY_b="-0.452" CY_p="0.0131" CY_r="0.202"
      CY_dr="0.154" CY_da="-0.0345" />
    <l Cl_b="-0.00787" Cl_p="-0.521" Cl_r="0.00656"
      Cl_dr="0.00512" Cl_da="0.315" />
    <n Cn_b="0.0591" Cn_p="-0.00484" Cn_r="-0.0745"
      Cn_dr="-0.0584" Cn_da="0.0124" />
    <flap drag="0.327" lift="-3.318" moment="-0.504" eff_ratio="0.25" />
  </aero>
  <config version="1">
    <descr_long>
      <en>Estimated mass and inertias, by LG</en>
    </descr_long>
    <descr_short>
      <en>default</en>
    </descr_short>
    <mass_inertia version="1" units="1" Mass="1.095"
      I_xx="0.070" I_yy="0.066" I_zz="0.135" I_xz="-0.00078" />
    <sound version="1">
      <sample filename="glider.wav" type="2" pitchfactor="1" maxvolume="1.0" />
    </sound>
  </config>
  <graphics version="1" model="wasabi_wr.ac">
    <descr_long>
      <en>White and red model, by LG.</en>
    </descr_long>
    <descr_short>
      <en>White and red</en>
    </descr_short>
  </graphics>
  <graphics version="1" model="wasabi_yr.ac">
    <descr_long>
      <en>Yellow and red model, by LG.</en>
    </descr_long>
    <descr_short>
      <en>Yellow and red</en>
    </descr_short>
  </graphics>
  <wheels version="1" units="0">
    <!-- 
      order of magnitude of spring values:
        max_force: 5-20 times model's weight (the faster the higher), 
                   at least > then damping times a typical landing speed
        constant: 500 lbf/ft (hard point), 100 lbf/ft (rubber wheel)
        damping: 1 lbf*s/ft (hard point), 0.5 lbf*s/ft (rubber wheel)
    -->
    <!-- right wingtip -->
    <wheel percent_brake="1" caster_angle_rad="0">
      <pos x="-0.13" y="2.46" z="0.0" />
      <spring constant="500" damping="1" max_force="50" />
    </wheel>
    <!-- left wingtip -->
    <wheel percent_brake="1" caster_angle_rad="0">
      <pos x="-0.13" y="-2.46" z="0.0" />
      <spring constant="500" damping="1" max_force="50" />
    </wheel>
    <!-- right wing -->
    <wheel percent_brake="1" caster_angle_rad="0">
      <pos x="-0.07" y="1.25" z="0.0" />
      <spring constant="500" damping="1" max_force="50" />
    </wheel>
    <!-- left wing -->
    <wheel percent_brake="1" caster_angle_rad="0">
      <pos x="-0.07" y="-1.25" z="0.0" />
      <spring constant="500" damping="1" max_force="50" />
    </wheel>
    <!-- nose -->
    <wheel percent_brake="1" caster_angle_rad="0">
      <pos x="0.71" y="0.00" z="0.03" />
      <spring constant="500" damping="1" max_force="50" />
    </wheel>
    <!-- fuselage top -->
    <wheel percent_brake="1" caster_angle_rad="0">
      <pos x="-0.13" y="0.00" z="-0.28" />
      <spring constant="500" damping="1" max_force="50" />
    </wheel>
    <!-- fuselage bottom -->
    <wheel percent_brake="1" caster_angle_rad="0">
      <pos x="-0.13" y="0.00" z="0.21" />
      <spring constant="500" damping="1" max_force="50" />
    </wheel>
    <!-- fuselage bottom rear -->
    <wheel percent_brake="1" caster_angle_rad="0">
      <pos x="-2.17" y="0.00" z="0.21" />
      <spring constant="500" damping="1" max_force="50" />
    </wheel>
    <!-- rudder -->
    <wheel percent_brake="1" caster_angle_rad="0">
      <pos x="-2.52" y="0.00" z="0.13" />
      <spring constant="500" damping="1" max_force="50" />
    </wheel>
    <!-- fin -->
    <wheel percent_brake="1" caster_angle_rad="0">
      <pos x="-2.03" y="0.00" z="-0.57" />
      <spring constant="500" damping="1" max_force="50" />
    </wheel>
    <!-- right elevator -->
    <wheel percent_brake="1" caster_angle_rad="0">
      <pos x="-1.92" y="0.76" z="0.0" />
      <spring constant="500" damping="1" max_force="50" />
    </wheel>
    <!-- left elevator -->
    <wheel percent_brake="1" caster_angle_rad="0">
      <pos x="-1.92" y="-0.76" z="0.0" />
      <spring constant="500" damping="1" max_force="50" />
    </wheel>
  </wheels>
  <CG units="1" x="-0.088" y="0" z="0" />
  <animations>
    <animation type="ControlSurface">
      <object name="rudder" max_angle="0.350" />
      <control mapping="RUDDER" gain="1.0" />
      <hinge x="-2.17" y="0.0" z="-0.57" />
      <hinge x="-2.17" y="0.0" z="0.22" />
    </animation>
    <animation type="ControlSurface">
      <object name="ele_lh" max_angle="0.140" />
      <control mapping="ELEVATOR" gain="1.0" />
      <hinge x="-2.0" y="-0.75" z="-0.02" />
      <hinge x="-2.0" y="0.75" z="-0.02" />
    </animation>
    <animation type="ControlSurface">
      <object name="ele_rh" max_angle="0.140" />
      <control mapping="ELEVATOR" gain="1.0" />
      <hinge x="-2.0" y="-0.75" z="-0.02" />
      <hinge x="-2.0" y="0.75" z="-0.02" />
    </animation>
    <animation type="ControlSurface">
      <object name="ail_lh" max_angle="0.525" />
      <control mapping="AILERON" gain="0.5" />
      <control mapping="FLAP" gain="-1.0" />
      <hinge x="-0.45" y="-2.47" z="0.0" />
      <hinge x="-0.49" y="0.0" z="0.0" />
    </animation>
    <animation type="ControlSurface">
      <object name="ail_rh" max_angle="0.525" />
      <control mapping="AILERON" gain="0.5" />
      <control mapping="FLAP" gain="1.0" />
      <hinge x="-0.45" y="2.47" z="0.0" />
      <hinge x="-0.49" y="0.0" z="0.0" />
    </animation>
  </animations>
  <launch>
    <preset name_en="glider default (hand)" altitude="6" velocity_rel="1" angle="0" sal="0" rel_to_player="1" rel_front="0" rel_right="2" />
  </launch>
  <mixer>
    <mixer name_en="Wasabi default" enabled="1" dr_enabled="1">
      <aileron trim="0" nrate="1" srate="1" exp="0.5" />
      <elevator trim="0" nrate="1" srate="0.60000002" exp="0.25" />
      <rudder trim="0" nrate="1" srate="1" exp="0.5" />
      <throttle trim="0" />
      <flap trim="0" mtravel="-0.133" ptravel="0.133" />
      <spoiler trim="0" />
      <mixer1 enabled="1" src="2" dst="5" val="0.53299999" />
      <mixer2 enabled="1" src="5" dst="2" val="-0.46700001" />
      <mixer3 enabled="1" src="6" dst="5" val="-0.5" />
      <mixer4 enabled="1" src="6" dst="2" val="0.234" />
    </mixer>
  </mixer>
</CRRCSim_airplane>
