From 12f596906d625eecf9f1cc0596f50c9ca2cd0524 Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Thu, 21 Dec 2023 13:35:52 +0000
Subject: [PATCH] Iris: disable moment coefficient contribution

- Changed behaviour in Gazebo Harmonic

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 models/iris_with_ardupilot/model.sdf | 16 ++++++++--------
 models/iris_with_gimbal/model.sdf    | 16 ++++++++--------
 2 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/models/iris_with_ardupilot/model.sdf b/models/iris_with_ardupilot/model.sdf
index 960e3267..6a57b73e 100755
--- a/models/iris_with_ardupilot/model.sdf
+++ b/models/iris_with_ardupilot/model.sdf
@@ -628,7 +628,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -645,7 +645,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -663,7 +663,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -680,7 +680,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -698,7 +698,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -715,7 +715,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -733,7 +733,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -750,7 +750,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
diff --git a/models/iris_with_gimbal/model.sdf b/models/iris_with_gimbal/model.sdf
index 5840cbf1..94311401 100755
--- a/models/iris_with_gimbal/model.sdf
+++ b/models/iris_with_gimbal/model.sdf
@@ -33,7 +33,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -50,7 +50,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -68,7 +68,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -85,7 +85,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -103,7 +103,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -120,7 +120,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -138,7 +138,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>
@@ -155,7 +155,7 @@
       <alpha_stall>1.4</alpha_stall>
       <cla>4.2500</cla>
       <cda>0.10</cda>
-      <cma>0.00</cma>
+      <cma>0.0</cma>
       <cla_stall>-0.025</cla_stall>
       <cda_stall>0.0</cda_stall>
       <cma_stall>0.0</cma_stall>