<?xml version="1.0" ?>
<CRRCSim_airplane version="3" type="heli01">
  <categories>
    <category>Rotorcraft</category>
  </categories>
  <description>
    <en>
This is a first helicopter model for CRRCSim. Simple graphics. 
It is meant as a starting point and to try out what feels 
realistic.
It contains different configurations for several types of 
helicopters and conditions.
    </en>
  </description>
  <changelog>
    <change>
      <date>2008-09-05</date>
      <author>Jens W. Wulf</author>
      <en>Created it. Currently it has an invisible 'easy' landing gear. I
          don't know if any of the configs feels realistic for some 
          model helicopter.</en>
    </change>
    <change>
      <date>2008-09-07</date>
      <author>Jens W. Wulf</author>
      <en>Added some configurations.</en>
    </change>
    <change>
      <date>2008-09-15</date>
      <author>Jens W. Wulf</author>
      <en>Changed meaning of some parameters to make them indepedent of each other,
          increased file version.</en>
    </change>
    <change>
      <date>2009-02-25</date>
      <author>Jens W. Wulf</author>
      <en>Added default launch setting</en>
    </change>
    <change>
      <date>2009-05-25</date>
      <author>Jens W. Wulf</author>
      <en>Stripped everything except "collective pitch, beginner, no wind", adapted to
          current code. A helicopter pilot told me that these settings are "ok, but not 
          suitable for 3D practise". Currently disturbances are set to zero, which is 
          not quite realistic, I think.</en>
    </change>
    <change>
      <date>2010-05-13</date>
      <author>J. Reucker</author>
      <en>Added max_force to springs</en>
    </change>
  </changelog>
  <wheels version="1" units="0">
    
    <!-- these are the real gearing points for heli.ac:
    <wheel percent_brake="0.5" caster_angle_rad="0">
      <spring constant="35" damping="0.15" />
      <pos x="0.22965879" y="0.164042" z="0.0065616798" />
    </wheel>
    <wheel percent_brake="0.5" caster_angle_rad="0">
      <spring constant="35" damping="0.15" />
      <pos x="-0.22965879" y="0.164042" z="0.0065616798" />
    </wheel>
    <wheel percent_brake="0.5" caster_angle_rad="0">
      <spring constant="35" damping="0.15" />
      <pos x="0.22965879" y="-0.164042" z="0.0065616798" />
    </wheel>
    <wheel percent_brake="0.5" caster_angle_rad="0">
      <spring constant="35" damping="0.15" />
      <pos x="-0.22965879" y="-0.164042" z="0.0065616798" />
    </wheel>
    -->
    
    
    <!-- an easier gearing -->
    <wheel percent_brake="0.8" caster_angle_rad="0">
      <spring constant="35" damping="0.5" max_force="5.0" />
      <pos x="0.4" y="0.3" z="0.0065616798" />
    </wheel>
    <wheel percent_brake="0.8" caster_angle_rad="0">
      <spring constant="35" damping="0.5" max_force="5.0" />
      <pos x="-0.4" y="0.3" z="0.0065616798" />
    </wheel>
    <wheel percent_brake="0.8" caster_angle_rad="0">
      <spring constant="35" damping="0.5" max_force="5.0" />
      <pos x="0.4" y="-0.3" z="0.0065616798" />
    </wheel>
    <wheel percent_brake="0.8" caster_angle_rad="0">
      <spring constant="35" damping="0.5" max_force="5.0" />
      <pos x="-0.4" y="-0.3" z="0.0065616798" />
    </wheel>

    
    <!-- main rotor -->    
    <wheel percent_brake="1" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="0.5" />
      <pos x="-0.69597125" y="0.69597125" z="-0.73818898" />
    </wheel>
    <wheel percent_brake="1" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="0.5" />
      <pos x="-0.37665692" y="0.90933026" z="-0.73818898" />
    </wheel>
    <wheel percent_brake="1" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="0.5" />
      <pos x="-9.10616e-17" y="0.98425198" z="-0.73818898" />
    </wheel>
    <wheel percent_brake="1" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="0.5" />
      <pos x="0.37665692" y="0.90933026" z="-0.73818898" />
    </wheel>
    <wheel percent_brake="1" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="0.5" />
      <pos x="0.69597125" y="0.69597125" z="-0.73818898" />
    </wheel>
    <wheel percent_brake="1" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="0.5" />
      <pos x="0.90933026" y="0.37665692" z="-0.73818898" />
    </wheel>
    <wheel percent_brake="1" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="0.5" />
      <pos x="0.98425198" y="9.10616e-17" z="-0.73818898" />
    </wheel>
    <wheel percent_brake="1" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="0.5" />
      <pos x="0.90933026" y="-0.37665692" z="-0.73818898" />
    </wheel>
    <wheel percent_brake="1" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="0.5" />
      <pos x="0.69597125" y="-0.69597125" z="-0.73818898" />
    </wheel>
    <wheel percent_brake="1" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="0.5" />
      <pos x="0.37665692" y="-0.90933026" z="-0.73818898" />
    </wheel>
    <wheel percent_brake="1" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="0.5" />
      <pos x="1.821232e-16" y="-0.98425198" z="-0.73818898" />
    </wheel>
    <wheel percent_brake="1" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="0.5" />
      <pos x="-0.37665692" y="-0.90933026" z="-0.73818898" />
    </wheel>
    <wheel percent_brake="1" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="0.5" />
      <pos x="-0.69597125" y="-0.69597125" z="-0.73818898" />
    </wheel>
    <wheel percent_brake="1" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="0.5" />
      <pos x="-0.98425198" y="-2.731848e-16" z="-0.73818898" />
    </wheel>
    
    <!-- others -->
    <wheel percent_brake="0.5" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="5.0" />
      <pos x="-1.1811024" y="0.049212599" z="-0.1476378" />
    </wheel>
    <wheel percent_brake="0.5" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="5.0" />
      <pos x="-1.2627114" y="0.049212599" z="-0.16387084" />
    </wheel>
    <wheel percent_brake="0.5" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="5.0" />
      <pos x="-1.3318961" y="0.049212599" z="-0.21009862" />
    </wheel>
    <wheel percent_brake="0.5" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="5.0" />
      <pos x="-1.3781239" y="0.049212599" z="-0.27928339" />
    </wheel>
    <wheel percent_brake="0.5" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="5.0" />
      <pos x="-1.394357" y="0.049212599" z="-0.36089239" />
    </wheel>
    <wheel percent_brake="0.5" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="5.0" />
      <pos x="-1.3781239" y="0.049212599" z="-0.44250139" />
    </wheel>
    <wheel percent_brake="0.5" caster_angle_rad="0">
      <spring constant="35" damping="0.15" max_force="5.0" />
      <pos x="-1.3318961" y="0.049212599" z="-0.51168616" />
    </wheel>
  </wheels>

  <!-- Ground effect parameters should be quite independent of the helicopter 
       parameters...shouldn't they? However, they can be adjusted to make it easier 
       for users to get them right and provide feedback. -->
  <GroundEffect>
    <dist  mul="1.5" />
  </GroundEffect>

  <Disturbance tau_filter="0.2" time="0.2" />
  
  <CG units="1" x="0" y="0" z="-130E-3" />  
  
  <graphics version="1" model="heli.ac">
    <descr_long>
      <en>automatically created</en>
    </descr_long>
    <descr_short>
      <en>auto</en>
    </descr_short>
  </graphics>
      
  <config version="1" adjust="0">
    <descr_long>
      <en>Collective pitch beginner, no wind</en>
    </descr_long>
    <descr_short>
      <en>Collective pitch beginner, no wind</en>
    </descr_short>
    <mass_inertia version="1" units="1" Mass="0.56284" I_xx="0.007349664"
      I_yy="0.006516176" I_zz="0.013747157" I_xz="0.00021689529" />
    <sound version="1">
      <sample filename="fan.wav" type="1" pitchfactor="0.03" maxvolume="1" />
    </sound>
    <aero version="1" >
      <yaw   ctrl="12" damp="20" damp_min_rel="0.25" dist="0" vane="0.2" moment_mul="1" />
      <pitch vane="0.04" />
      <roll  ctrl="4" damp="4" dist="0" ForwardToRoll="0" />
      <cp    ctrl="3" />
      <speed damp="0.03" />
    </aero>  
    <power fixed_pitch="1" >
      <automagic F="15" V="1">
        <battery throttle_min="0">
          <automagic T="420" />
          <shaft J="0" brake="0">
            <propeller D="0.6" H="0.3" J="2E-3" n_fold="-1" />
            <engine>
              <automagic omega_p="2827" eta_opt="0.78" eta="0.7" />
            </engine>
          </shaft>
        </battery>
      </automagic>
    </power>
  </config>
    
  <launch>
    <preset name_en="heli default (ground)" altitude="0" velocity_rel="0" angle="0" sal="0" rel_to_player="1" rel_front="21" rel_right="0" />
  </launch>
  
</CRRCSim_airplane>
