From 894f455748d89cf3a19338c565607412638b70b2 Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Sat, 30 Dec 2023 13:06:57 +0000
Subject: [PATCH] Gazebo: set moment coefficient to zero

- Account for 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 ++++++++--------
 models/zephyr_with_ardupilot/model.sdf | 14 +++++++-------
 models/zephyr_with_parachute/model.sdf | 14 +++++++-------
 4 files changed, 30 insertions(+), 30 deletions(-)

diff --git a/models/iris_with_ardupilot/model.sdf b/models/iris_with_ardupilot/model.sdf
index f85a84ae..3381f2ca 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 f7eb5f15..4f417c8d 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>
diff --git a/models/zephyr_with_ardupilot/model.sdf b/models/zephyr_with_ardupilot/model.sdf
index eb9af509..af2ce62b 100644
--- a/models/zephyr_with_ardupilot/model.sdf
+++ b/models/zephyr_with_ardupilot/model.sdf
@@ -15,7 +15,7 @@
       <a0>0.13</a0>
       <cla>3.7</cla>
       <cda>0.06417112299</cda>
-      <cma>-1.8</cma>
+      <cma>0.0</cma>
       <alpha_stall>0.3391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
@@ -33,7 +33,7 @@
       <a0>0.15</a0>
       <cla>6.8</cla>
       <cda>0.06417112299</cda>
-      <cma>-1.8</cma>
+      <cma>0.0</cma>
       <alpha_stall>0.6391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
@@ -53,7 +53,7 @@
       <a0>0.15</a0>
       <cla>6.8</cla>
       <cda>0.06417112299</cda>
-      <cma>-1.8</cma>
+      <cma>0.0</cma>
       <alpha_stall>0.6391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
@@ -73,7 +73,7 @@
       <a0>0.0</a0>
       <cla>4.752798721</cla>
       <cda>0.6417112299</cda>
-      <cma>-1.8</cma>
+      <cma>0.0</cma>
       <alpha_stall>0.3391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
@@ -91,7 +91,7 @@
       <a0>0.0</a0>
       <cla>4.752798721</cla>
       <cda>0.6417112299</cda>
-      <cma>-1.8</cma>
+      <cma>0.0</cma>
       <alpha_stall>0.3391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
@@ -110,7 +110,7 @@
       <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>
@@ -128,7 +128,7 @@
       <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/zephyr_with_parachute/model.sdf b/models/zephyr_with_parachute/model.sdf
index 449f3d39..ff27d9a6 100644
--- a/models/zephyr_with_parachute/model.sdf
+++ b/models/zephyr_with_parachute/model.sdf
@@ -47,7 +47,7 @@
       <a0>0.13</a0>
       <cla>3.7</cla>
       <cda>0.06417112299</cda>
-      <cma>-1.8</cma>
+      <cma>0.0</cma>
       <alpha_stall>0.3391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
@@ -65,7 +65,7 @@
       <a0>0.15</a0>
       <cla>6.8</cla>
       <cda>0.06417112299</cda>
-      <cma>-1.8</cma>
+      <cma>0.0</cma>
       <alpha_stall>0.6391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
@@ -85,7 +85,7 @@
       <a0>0.15</a0>
       <cla>6.8</cla>
       <cda>0.06417112299</cda>
-      <cma>-1.8</cma>
+      <cma>0.0</cma>
       <alpha_stall>0.6391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
@@ -105,7 +105,7 @@
       <a0>0.0</a0>
       <cla>4.752798721</cla>
       <cda>0.6417112299</cda>
-      <cma>-1.8</cma>
+      <cma>0.0</cma>
       <alpha_stall>0.3391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
@@ -123,7 +123,7 @@
       <a0>0.0</a0>
       <cla>4.752798721</cla>
       <cda>0.6417112299</cda>
-      <cma>-1.8</cma>
+      <cma>0.0</cma>
       <alpha_stall>0.3391428111</alpha_stall>
       <cla_stall>-3.85</cla_stall>
       <cda_stall>-0.9233984055</cda_stall>
@@ -142,7 +142,7 @@
       <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>
@@ -160,7 +160,7 @@
       <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>