%
% Cirrus SR22.
%

model_name = 'Cirrus SR22'

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Minimum eye distance to objects.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
d_E_min = 1

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Approach speed, power and flap setting.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
V_approach = 45
D_F_approach = .2
D_P_approach = .4

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Cruise speed, power and flap setting.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
V_cruise = 65
D_F_cruise = .0
D_P_cruise = .7

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Constants for terrain elevation filters.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
spring_e_T = 80
damper_e_T = 15

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Spring/damper constants for camera rotation.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Critical damping: spring = damper^2/4.
spring_vertical = 80
damper_vertical = 15
spring_horizontal = 80
damper_horizontal = 15

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Collision vertices.
% VREF:  Zero is below the nose on the ground.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
p_v = [
  % Main wheels.
  [ -2.9  -1.6 -.3 ]
  [ -2.9   1.6 -.3 ]
  % Nosewheel.
  [ -1     0   -.3 ]
  % Tail skid.
  [ -7     0  -1.5 ]
  % Top of cockpit.
  [ -3     0  -2   ]
]

% Fixed gear installation.
first_fixed = 0

% Spring/damper format:
% [ C_0 C_s C_d f F_max ]
spring_damper = [
  [ 2500 5e4 1e4 .05 2e5 ]
  [ 2500 5e4 1e4 .05 2e5 ]
  [ 500  3e4 1e4 .05 1e5 ]
  [ 500  5e3 3e3 .05 3e4 ]
]

% Contact patch format:
% [ C_r_0 C_r C_b C_y K_s K_d C_max_x C_max_y b dalpha_dDR ]
contact_patch = [
  % Main wheels.
  [ 200 8e-4 2e3 6e3 2.1e4 1.2e4 .8 .8 1.1 0 ]
  [ 200 8e-4 2e3 6e3 2.1e4 1.2e4 .8 .8 1.1 0 ]
  % Nosewheel.  Only some Y force, no static friction.
  [ 0   0    0   6e3 0     0     0  .8 -1  .7 ]
]


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Power plant.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
P_max = 210e3
F_max = 6000
P_ratio_reverse = 0
P_ratio_alpha = 1.4
p_T_v = [ [ -.2 0 -1 ] ]
d_T_v = [ [ 1 -.02 0 ] ]


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Eye point.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Pilot sits on the left.
p_E_v = [ -2 -.5 -1.8 ]

% Reference values.

b = 11.7
c_bar = 1.15

% collision model values, leave at 1 for now.
d_ref = 1
v_ref = 1
F_ref = 1


% Mass/cm/inertia.

m = 1315

J = [
  [ 6500    0    0 ]
  [    0 2500    0 ]
  [    0    0 7700 ]
]

p_CM_v = [ -2.6 0 -1 ]
p_AC_v = [ -2.6 0 -1 ]


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Aerodynamics
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% Forces.
alpha_z_0_deg = -4.5
dalpha_z_deg_dDF = -2.5
C_D_0 = 0.0278108
dC_D_dDG = 0
dC_D_dDF = .03
dC_L_dalpha_deg = .095
dC_L_dS = -1.5
C_L_max_0 = 1.42
dC_L_max_dDF = .5
d2C_D_dC_L2 = 0.124852
d2C_D_dC_Y2 = .1
dC_Y_dDR = .001
dC_Y_dbeta_deg = .025
dC_Y_dp_hat = .0001
dC_Y_dr_hat = -.0001

% *** Moments ***

% *** Pitch ***
C_m_0 = 1e-5
dC_m_dDE = .25
dC_m_dDE_T = .06
dC_m_dDF = .03
dC_m_dDG = 0
dC_m_dS = -.025
dC_m_dq_hat = -12
dC_m_dalpha_deg = -.013
d2C_m_dbeta2 = -7e-1
d2C_m_dq_hat2 = -10

% *** Roll ***
dC_l_dDA = .05
dC_l_dDR = -1e-5
dC_l_dbeta_deg = -1e-4
dC_l_dp_hat_0 = -.43
dC_l_dp_hat_max = .03
dC_l_dr_hat_0 = .16
ddC_l_dp_hat_0_dS = 2.3
ddC_l_dr_hat_0_dS = 1.3
d2C_l_dp_hat2 = -12

% *** Yaw ***
dC_n_dDA = -.01
dC_n_dDR = .1
dC_n_dbeta_deg = 5e-3
dC_n_dp_hat = 0
dC_n_dr_hat = -.8
d2C_n_dr_hat2 = -1