J3Cub.xml

<?xml version="1.0"?>
<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>

<fdm_config name="J3Cub" version="2.0" release="ALPHA"
   xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
   xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">

 <fileheader>
  <author> Erik Hofman using Aeromatic v 3.2.0 </author>
  <filecreationdate> 18 Dec 2015 </filecreationdate>
  <version>$Revision: 1.26 $</version>
  <description> Models a J3Cub. </description>
  <note>
    This model was created using publicly available data, publicly available
    technical reports, textbooks, and guesses. It contains no proprietary or
    restricted data. If this model has been validated at all, it would be
    only to the extent that it seems to "fly right", and that it possibly
    complies with published, publicly known, performance data (maximum speed,
    endurance, etc.). Thus, this model is meant for educational and
    entertainment purposes only.

    This simulation model is not endorsed by the manufacturer.
      </note>
  <reference refID="Du_Y_Thesis_2011" author="Yongliang Du" title="Development of real-time flight control system for low-cost vehicle" date="2011"/>
 </fileheader>

<!--
  File:     J3Cub.xml
  Inputs:
    name:          J3Cub
    type:          light commuter with 1 engines
    stall speed:   33.00kts
    max weight:    1220.00 lb
    length:        22.42 ft
    wing: 
     span:         35.25 ft
     area:         178.50 sq-ft
     chord:        5.25 ft
     aspect ratio: 6.94:1
     taper ratio:  1.00:1
     incidence:    2.00 degrees
     dihedral:     5.00 degrees
     sweep:        0.00 degrees

    no. engines:   1
    engine type:   Piston Engine
    engine layout: forward fuselage

    gear type:     taildragger
    steering type: steerable
    retractable?:  no

  Outputs:
    wing loading:  6.83 lb/sq-ft
    payload:       274.44 lbs
    CL-alpha:      5.02 per radian
    CL-0:          0.25
    CL-max:        1.85
    CD-0:          0.02
    K:             0.04
    Mcrit:         0.58

   References:
   * "Development of real-time flight control system for low-cost vehicle"
     Du, Yongliang - Cranfield University, January 2011
     https://dspace.lib.cranfield.ac.uk/handle/1826/8621

   * "USA-35B AIRFOIL (usa35b-il)"
     http://airfoiltools.com/airfoil/details?airfoil=usa35b-il#polars
-->

 <metrics>
   <wingarea  unit="FT2">  178.50 </wingarea>
   <wingspan  unit="FT" >   35.25 </wingspan>
   <wing_incidence>          0.0349 </wing_incidence>
   <chord     unit="FT" >    5.25 </chord>
   <htailarea unit="FT2">   24.50 </htailarea>
   <htailarm  unit="FT" >   13.20 </htailarm>
   <vtailarea  unit="FT2">  10.20 </vtailarea>
   <vtailarm  unit="FT" >   13.40 </vtailarm>
   <location name="AERORP" unit="IN">
     <x>    18.90 </x>
     <y>     0.00 </y>
     <z>     0.00 </z>
   </location>
   <location name="EYEPOINT" unit="IN">
     <x>    30.63 </x>
     <y>     0.00 </y>
     <z>   -11.00 </z>
   </location>
   <location name="VRP" unit="IN">
     <x>    -9.86 </x>
     <y>     0.00 </y>
     <z>    -0.97 </z>
   </location>
 </metrics>

    <mass_balance>
        <ixx unit="SLUG*FT2"> 538.01 </ixx>
        <iyy unit="SLUG*FT2"> 386.81 </iyy>
        <izz unit="SLUG*FT2"> 871.03 </izz> 
        <!-- wihtout any rims or tires, default rims and tires 12.5 X 2 = 25 lb-->
        <emptywt unit="LBS" > 760.00 </emptywt>
        <location name="CG" unit="IN">
            <x>    13.80 </x>
            <y>     0.00 </y>
            <z>   -23.23 </z>
        </location>
        <pointmass name="Back seat">
            <weight unit="LBS"> 180 </weight>
            <location name="POINTMASS" unit="IN">
                <x>  34.00 </x>
                <y>   0.00 </y>
                <z> -34.24 </z>
            </location>
        </pointmass>
        <pointmass name="Front seat">
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>   8.31 </x>
                <y>   0.00 </y>
                <z> -38.89 </z>
            </location>
        </pointmass>
        <!-- Gear configurations 0 to 5, pointmass [2] to [9]  and [11] to [14] -->
        <!-- Weight and drag are managed by Systems/bushkit.xml -->
        <pointmass name="Left bush wheel 35 inches">
            <!-- 25 lb -->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>   1.17 </x>
                <y> -35.43 </y>
                <z> -63.32 </z>
            </location>
        </pointmass>
        <pointmass name="Right bush wheel 35 inches">
            <!-- 25 lb -->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>   1.17 </x>
                <y>  35.43 </y>
                <z> -63.32 </z>
            </location>
        </pointmass>
        <pointmass name="Left float">
            <!--  66 lb -->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>   1.17 </x>
                <y> -35.43 </y>
                <z> -63.32 </z>
            </location>
        </pointmass>
        <pointmass name="Right float">
            <!--  66 lb -->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>   1.17 </x>
                <y>  35.43 </y>
                <z> -63.32 </z>
            </location>
        </pointmass>
        <pointmass name="Left amphibious">
            <!--  115 lb Baumann Floats, FAA TSO C-27 Approved -->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>   1.17 </x>
                <y> -35.43 </y>
                <z> -63.32 </z>
            </location>
        </pointmass>
        <pointmass name="Right amphibious">
            <!--  115 lb Baumann Floats, FAA TSO C-27 Approved -->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>   1.17 </x>
                <y>  35.43 </y>
                <z> -63.32 </z>
            </location>
        </pointmass>
        <pointmass name="Left ski">
            <!-- ski, 36 "tire and rim 37 lb -->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>   1.17 </x>
                <y> -35.43 </y>
                <z> -63.32 </z>
            </location>
        </pointmass>
        <pointmass name="Right ski">
            <!-- ski, 36 "tire and rim 37 lb -->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>   1.17 </x>
                <y>  35.43 </y>
                <z> -63.32 </z>
            </location>
        </pointmass>
        <pointmass name="Rear Baggage">
            <description> 195.00 LBS max weight = 195 baggage + 65 fuel + 180 pilot + 760 emptywt = 1200</description>
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>    48.21 </x>
                <y>     0.00 </y>
                <z>   -40.87 </z>
            </location>
        </pointmass>
        <pointmass name="Left ski lite">
            <!-- 8 lb -->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>   1.17 </x>
                <y> -35.43 </y>
                <z> -63.32 </z>
            </location>
        </pointmass>
        <pointmass name="Right ski lite">
            <!-- 8 lb -->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>   1.17 </x>
                <y>  35.43 </y>
                <z> -63.32 </z>
            </location>
        </pointmass>
        <pointmass name="Default left wheel">
            <!-- 12.5 lb -->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>   1.17 </x>
                <y> -35.43 </y>
                <z> -63.32 </z>
            </location>
        </pointmass>
        <pointmass name="Defaut right wheel">
            <!-- 12.5 lb -->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>   1.17 </x>
                <y>  35.43 </y>
                <z> -63.32 </z>
            </location>
        </pointmass>
        <pointmass name="Hopper">
        <!-- max 750 lb -->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>  37.44 </x>
                <y>   0.00 </y>
                <z> -38.99 </z>
            </location>
        </pointmass>
        <!-- pointmass 16-17 -->
        <pointmass name="extra weight 95hp">
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x> -22.54 </x>
                <y>   0.0  </y>
                <z> -27.0  </z>
            </location>
        </pointmass>
        <pointmass name="extra weight 150hp">
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x> -22.54 </x>
                <y>   0.0  </y>
                <z> -27.0  </z>
            </location>
        </pointmass>
        <!-- pointmass 18-19 -->
        <pointmass name="extra weight front tricycle gear">
            <!-- 20 lb -->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x> -39.06 </x>
                <y>   0.0  </y>
                <z> -69.41 </z>
            </location>
        </pointmass>
        <pointmass name="remove weight tail gear">
            <!-- -9 lb -->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x> 190.18 </x>
                <y>   0.0  </y>
                <z> -20.76 </z>
            </location>
        </pointmass>
        <!-- pointmass 20-21 move gear weight back 25" for tricycle gear configuration-->       
        <pointmass name="Left tricycle wheel 35 inches">
            <!-- 25 lb -->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>  25.30 </x>
                <y> -35.43 </y>
                <z> -63.32 </z>
            </location>
        </pointmass>
        <pointmass name="Right tricycle wheel 35 inches">
            <!-- 25 lb -->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>  25.30 </x>
                <y>  35.43 </y>
                <z> -63.32 </z>
            </location>
        </pointmass>
        <pointmass name="Right Door and window">
            <!-- 11 lb door, 10 lb window = 21 lbs-->
            <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x>  16.26 </x>
                <y>  14.17 </y>
                <z> -19.36 </z>
            </location>
        </pointmass>
        <!-- pointmass [23] -->
        <pointmass name="Wing-Ice">
           <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x> 8.86 </x>
                <y> 0.0   </y>
                <z> 6.05  </z>
            </location>
        </pointmass>
        <!-- pointmass [24] -->
        <pointmass name="Elevator-Ice">
           <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x> 169.89 </x>
                <y>   0.0  </y>
                <z>  -5.96 </z>
            </location>
        </pointmass>
        <!-- pointmass [25] -->
        <pointmass name="Stabilizer-Ice">
           <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x> 169.89 </x>
                <y>   0.0  </y>
                <z>   5.88 </z>
            </location>
        </pointmass>
        <!-- pointmass [26] -->
        <pointmass name="Fuselage-Ice">
           <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x> -47.35 </x>
                <y>   0.0  </y>
                <z> -23.93 </z>
            </location>
        </pointmass>
        <!-- pointmass [27] -->
        <pointmass name="Windshield-Ice">
           <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x> -8.22 </x>
                <y>  0.0  </y>
                <z> -3.64 </z>
            </location>
        </pointmass>
        <!-- pointmass [28] -->
        <pointmass name="Propeller-Ice">
           <weight unit="LBS"> 0 </weight>
            <location name="POINTMASS" unit="IN">
                <x> 39.37 </x>
                <y>  0.0  </y>
                <z>-20.04 </z>
            </location>
        </pointmass>
    </mass_balance>

 <propulsion>

   <engine file="Continental A-65-8">
    <location unit="IN">
      <x> -37.52 </x>
      <y>   0.00 </y>
      <z> -25.96 </z>
    </location>
    <orient unit="DEG">
      <pitch> 0.00 </pitch>
       <roll> 0.00 </roll>
        <yaw> 0.00 </yaw>
    </orient>
    <feed>3</feed> <!-- from collector tank 3 -->
    <thruster file="prop_74in_2f_NACA_15-30deg-65hp">
     <sense> 1 </sense>
     <location unit="IN">
       <x> -54.53 </x>
       <y>   0.00 </y>
       <z> -19.92 </z>
     </location>
     <orient unit="DEG">
        <pitch> 0.00 </pitch>
        <roll>  0.00 </roll>
        <yaw>   0.00 </yaw>
     </orient>
    </thruster>
  </engine>
  
  <engine file="Continental C90">
    <location unit="IN">
      <x> -38.50 </x>
      <y>   0.00 </y>
      <z> -25.96 </z>
    </location>
    <orient unit="DEG">
        <pitch> 0.00 </pitch>
        <roll>  0.00 </roll>
        <yaw>   0.00 </yaw>
    </orient>
    <feed>3</feed> <!-- from collector tank 3 -->
    <thruster file="prop_74in_2f_NACA_15-30deg-95hp">
     <sense> 1 </sense>
     <location unit="IN">
       <x> -55.62 </x>
       <y>   0.00 </y>
       <z> -20.23 </z>
     </location>
     <orient unit="DEG">
        <pitch> 0.00 </pitch>
        <roll>  0.00 </roll>
        <yaw>   0.00 </yaw>
     </orient>
    </thruster>
  </engine>

  <engine file="Lycoming O-320-A1A-D2H">
    <location unit="IN">
        <x> -38.00 </x>
        <y>   0.00 </y>
        <z> -23.62 </z>
    </location>
    <orient unit="DEG">
        <roll>  0.0 </roll>
        <pitch> 0.0 </pitch>
        <yaw>   0.0 </yaw>
    </orient>
    <feed>3</feed> <!-- from collector tank 3 -->
    <thruster file="prop_75in_2f_NACA_15-30deg-150hp">
        <location unit="IN">
            <x> -56.69 </x>
            <y>   0.00 </y>
            <z> -20.55 </z>
        </location>
        <orient unit="DEG">
            <roll>  0.0 </roll>
            <pitch> 0.0 </pitch>
            <yaw>   0.0 </yaw>
        </orient>
        <sense> 1 </sense>
        <p_factor> 5 </p_factor>
    </thruster>
  </engine>

  <tank type="FUEL">
     <location unit="IN">
       <x> -17.51 </x>
       <y>   0.00 </y>
       <z> -27.09 </z>
     </location>
     <capacity unit="LBS"> 74.19 </capacity>
     <contents unit="LBS"> 65.00 </contents>
     <type>AVGAS</type>
  </tank>
  <tank type="FUEL">
     <location unit="IN">
       <x>  21.93 </x>
       <y> -34.70 </y>
       <z>   0.85 </z>
     </location>
     <capacity unit="LBS"> 108.18 </capacity>
     <contents unit="LBS">  0.00 </contents>
     <type>AVGAS</type>
  </tank>
  <tank type="FUEL">
     <location unit="IN">
       <x> 21.93 </x>
       <y> 34.70 </y>
       <z>  0.85 </z>
     </location>
     <capacity unit="LBS"> 108.18 </capacity>
     <contents unit="LBS">  0.00 </contents>
     <type>AVGAS</type>
  </tank>
  <!-- Collector Tank number 3 -->
  <tank type="FUEL">
     <location unit="IN">
       <x> -17.51 </x>
       <y>   0.00 </y>
       <z> -27.09 </z>
     </location>
     <capacity unit="LBS"> 0.1 </capacity>
     <contents unit="LBS"> 0.0 </contents>
     <type>AVGAS</type>
  </tank>

 </propulsion>

    <ground_reactions>

        <!-- The ski wheels friction would have a
             rolling friction on a hard surface and
             slide or drag on snow -->
        <contact type="BOGEY" name="TAIL">
            <location unit="IN">
                <x> 203.00 </x>
                <y>   0.00 </y>
                <z> -36.20 </z>
            </location>
            <static_friction>  0.60 </static_friction>
            <dynamic_friction> 0.50 </dynamic_friction>
            <rolling_friction> 0.02 </rolling_friction>
            <spring_coeff  unit="LBS/FT">   250.00 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC"> 150.00 </damping_coeff>
            <steerability> STEERABLE </steerability>
            <max_steer unit="DEG">-10.00</max_steer>
            <brake_group> NONE </brake_group>
            <retractable> 0 </retractable>
        </contact>

        <contact type="BOGEY" name="LEFT_MAIN">
            <location unit="IN">
                <x> -13.00 </x>
                <y> -49.00 </y>
                <z> -78.70 </z>
            </location>
            <static_friction>  0.80 </static_friction>
            <dynamic_friction> 0.50 </dynamic_friction>
            <rolling_friction> 0.02 </rolling_friction>
            <spring_coeff  unit="LBS/FT">     1200.00 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">  400.00 </damping_coeff>
            <damping_coeff_rebound unit="LBS/FT/SEC">850</damping_coeff_rebound>
            <max_steer unit="DEG">0</max_steer>
            <brake_group> LEFT </brake_group>
            <retractable> 0 </retractable>
        </contact>

        <contact type="BOGEY" name="RIGHT_MAIN">
            <location unit="IN">
                <x> -13.00 </x>
                <y>  49.00 </y>
                <z> -78.70 </z>
            </location>
            <static_friction>  0.80 </static_friction>
            <dynamic_friction> 0.50 </dynamic_friction>
            <rolling_friction> 0.02 </rolling_friction>
            <spring_coeff  unit="LBS/FT">     1200.00 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">  400.00 </damping_coeff>
            <damping_coeff_rebound unit="LBS/FT/SEC">850</damping_coeff_rebound>
            <max_steer unit="DEG">0</max_steer>
            <brake_group> RIGHT </brake_group>
            <retractable> 0 </retractable>
        </contact>

        <!-- contact 3, 4, 5 -->
        <contact type="STRUCTURE" name="TAIL_SKID">
            <location unit="IN">
                <x> 211</x>
                <y> 0 </y>
                <z> 19 </z>
            </location>
            <static_friction> 0.5 </static_friction>
            <dynamic_friction> 0.25 </dynamic_friction>
            <spring_coeff unit="LBS/FT">       2000 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">   1000 </damping_coeff>
        </contact>

        <contact type="STRUCTURE" name="LEFT_WING">
            <location unit="IN">
                <x>   22  </x>
                <y> -231.5</y>
                <z>   5  </z>
            </location>
            <static_friction>  1 </static_friction>
            <dynamic_friction> 1 </dynamic_friction>
            <spring_coeff unit="LBS/FT">      500.00 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC"> 100.00 </damping_coeff>
        </contact>

        <contact type="STRUCTURE" name="RIGHT_WING">
            <location unit="IN">
                <x>   22  </x>
                <y>  231.5</y>
                <z>   5  </z>
            </location>
            <static_friction>  1 </static_friction>
            <dynamic_friction> 1 </dynamic_friction>
            <spring_coeff unit="LBS/FT">      500.00 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC"> 100.00 </damping_coeff>
        </contact>
 
        <!-- contact 6, 7, 8 -->
        <contact type="STRUCTURE" name="TAIL_BROKEN_GEAR">
            <location unit="IN">
                <x> 199.90 </x>
                <y>   0.00 </y>
                <z> 0 </z>
            </location>
            <static_friction>  0.9 </static_friction>
            <dynamic_friction> 0.5 </dynamic_friction>
            <spring_coeff unit="LBS/FT">       1830.15 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">   366.03 </damping_coeff>
        </contact>
        <contact type="STRUCTURE" name="LEFT_BROKEN_GEAR">
            <location unit="IN">
                <x> -10.65 </x>
                <y> -35.43 </y>
                <z> 0 </z>
            </location>
            <static_friction>  0.8 </static_friction>
            <dynamic_friction> 0.4 </dynamic_friction>
            <spring_coeff unit="LBS/FT">       1830.15 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">   366.03 </damping_coeff>
        </contact>
        <contact type="STRUCTURE" name="RIGHT_BROKEN_GEAR">
            <location unit="IN">
                <x> -10.65 </x>
                <y> 35.43 </y>
                <z> 0 </z>
            </location>
            <static_friction>  0.8 </static_friction>
            <dynamic_friction> 0.4 </dynamic_friction>
            <spring_coeff unit="LBS/FT">       1830.15 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">   366.03 </damping_coeff>
        </contact>

        <!-- contact 9, 10, 11, 12 -->
        <contact type="STRUCTURE" name="NOSE_TOP">
            <location unit="IN">
                <x> -86 </x>
                <y> 0 </y>
                <z> 0 </z>
            </location>
            <static_friction> 1 </static_friction>
            <dynamic_friction> 1 </dynamic_friction>
            <spring_coeff unit="LBS/FT">       500 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">   100 </damping_coeff>
        </contact>
        <contact type="STRUCTURE" name="NOSE">
            <location unit="IN">
                <x> -60 </x>
                <y>   0 </y>
                <z> -37 </z>
            </location>
            <static_friction> 1 </static_friction>
            <dynamic_friction> 1 </dynamic_friction>
            <spring_coeff unit="LBS/FT">       500 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">   100 </damping_coeff>
        </contact>
        <contact type="STRUCTURE" name="COCKPIT_TOP">
            <location unit="IN">
                <x> -60 </x>
                <y> 0 </y>
                <z> 5 </z>
            </location>
            <static_friction> 1 </static_friction>
            <dynamic_friction> 1 </dynamic_friction>
            <spring_coeff unit="LBS/FT">       500 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">   100 </damping_coeff>
        </contact>
        <contact type="STRUCTURE" name="TOP_VS">
            <location unit="IN">
                <x> 192 </x>
                <y> 0 </y>
                <z> 110 </z>
            </location>
            <static_friction> 1 </static_friction>
            <dynamic_friction> 1 </dynamic_friction>
            <spring_coeff unit="LBS/FT">       500 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">   100 </damping_coeff>
        </contact>

        <!-- contact 13, 14, 15, 16, 17, 18 -->
        <contact type="STRUCTURE" name="LFfloat">
            <location unit="IN">
                <x>-78.230</x>
                <y>-56.889</y>
                <z>-20</z>
            </location>
            <static_friction>  0.8 </static_friction>
            <dynamic_friction> 0.2 </dynamic_friction>
            <spring_coeff unit="LBS/FT">       1830.15 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">   366.03 </damping_coeff>
        </contact>
        <contact type="STRUCTURE" name="RFfloat">
            <location unit="IN">
                <x>-78.230</x>
                <y>56.889</y>
                <z>-20</z>
            </location>
            <static_friction>  0.8 </static_friction>
            <dynamic_friction> 0.2 </dynamic_friction>
            <spring_coeff unit="LBS/FT">       1830.15 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">   366.03 </damping_coeff>
        </contact>
        <contact type="STRUCTURE" name="LMfloat">
            <location unit="IN">
                <x>70.16</x>
                <y>-56.889</y>
                <z>-20</z>
            </location>
            <static_friction>  0.8 </static_friction>
            <dynamic_friction> 0.2 </dynamic_friction>
            <spring_coeff unit="LBS/FT">       1830.15 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">   366.03 </damping_coeff>
        </contact>
        <contact type="STRUCTURE" name="RMfloat">
            <location unit="IN">
                <x>70.16</x>
                <y>56.889</y>
                <z>-20</z>
            </location>
            <static_friction>  0.8 </static_friction>
            <dynamic_friction> 0.2 </dynamic_friction>
            <spring_coeff unit="LBS/FT">       1830.15 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">   366.03 </damping_coeff>
        </contact>
        <contact type="STRUCTURE" name="LRfloat">
            <location unit="IN">
                <x>160.71</x>
                <y>-56.889</y>
                <z>-20</z>
            </location>
            <static_friction>  0.8 </static_friction>
            <dynamic_friction> 0.2 </dynamic_friction>
            <spring_coeff unit="LBS/FT">       1830.15 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">   366.03 </damping_coeff>
        </contact>
        <contact type="STRUCTURE" name="RRfloat">
            <location unit="IN">
                <x>160.71</x>
                <y>56.889</y>
                <z>-20</z>
            </location>
            <static_friction>  0.8 </static_friction>
            <dynamic_friction> 0.2 </dynamic_friction>
            <spring_coeff unit="LBS/FT">       1830.15 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">   366.03 </damping_coeff>
        </contact>

        <!-- contact 19, 20, 21, 22 -->
        <contact type="BOGEY" name="LFFloatGear">
            <location unit="IN">
                <x>-78</x>
                <y>-56.889</y>
                <z>0</z>
            </location>
            <static_friction>0.60 </static_friction>
            <dynamic_friction>0.50</dynamic_friction>
            <rolling_friction>0.02</rolling_friction>
            <spring_coeff  unit="LBS/FT">    1000.00 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC"> 350.00 </damping_coeff>
            <steerability> STEERABLE </steerability>
            <max_steer unit="DEG">360</max_steer>
            <brake_group>NONE</brake_group>
            <retractable>1</retractable>
        </contact>
        <contact type="BOGEY" name="RFFloatGear">
            <location unit="IN">
                <x>-78</x>
                <y>56.889</y>
                <z>0</z>
            </location>
            <static_friction>0.60 </static_friction>
            <dynamic_friction>0.50</dynamic_friction>
            <rolling_friction>0.02</rolling_friction>
             <spring_coeff  unit="LBS/FT">   1000.00 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC"> 350.00 </damping_coeff>
            <steerability> STEERABLE </steerability>
            <max_steer unit="DEG">360</max_steer>
            <brake_group>NONE</brake_group>
            <retractable>1</retractable>
        </contact>
        <contact type="BOGEY" name="LMFloatGear">
            <location unit="IN">
                <x>76</x>
                <y>-56.889</y>
                <z>0</z>
            </location>
            <static_friction>  0.80</static_friction>
            <dynamic_friction> 0.50 </dynamic_friction>
            <rolling_friction> 0.02 </rolling_friction>
            <spring_coeff  unit="LBS/FT">     1200.00 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">  400.00 </damping_coeff>
            <damping_coeff_rebound unit="LBS/FT/SEC">850</damping_coeff_rebound>
            <max_steer unit="DEG">0</max_steer>
            <brake_group>LEFT</brake_group>
            <retractable>1</retractable>
        </contact>
        <contact type="BOGEY" name="RMFloatGear">
            <location unit="IN">
                <x>76</x>
                <y>56.889</y>
                <z>0</z>
            </location>
            <static_friction>  0.80 </static_friction>
            <dynamic_friction> 0.50 </dynamic_friction>
            <rolling_friction> 0.02 </rolling_friction>
            <spring_coeff  unit="LBS/FT">     1200.00 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">  400.00 </damping_coeff>
            <damping_coeff_rebound unit="LBS/FT/SEC">850</damping_coeff_rebound>
            <max_steer unit="DEG">0</max_steer>
            <brake_group>RIGHT</brake_group>
            <retractable>1</retractable>
        </contact>

        <!-- contact 23 = 2 wheels on nose ski (c172p) tail ski optional on Cub.
            The ski wheels friction would have a
             rolling friction on a hard surface and
             slide or drag on snow -->
        <!-- contact 23, 24, 25 -->
        <!-- 23 is not used at this time but needed to keep contact positions following it -->
        <contact type="BOGEY" name="TAIL_SKI">
            <location unit="IN">
                <x>  18.44 </x>
                <y> 0 </y>
                <z> 0 </z>
            </location>
            <static_friction> 0.8 </static_friction>
            <dynamic_friction> 0.5 </dynamic_friction>
            <rolling_friction> 0.02 </rolling_friction>
            <spring_coeff unit="LBS/FT"> 1800 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC"> 600 </damping_coeff>
            <max_steer unit="DEG"> 10 </max_steer>
            <brake_group> NONE </brake_group>
            <retractable>0</retractable>
        </contact>
        <contact type="BOGEY" name="LEFT_SKI">
            <location unit="IN">
                <x> 93 </x>
                <y> -51 </y>
                <z> -10 </z>
            </location>
            <static_friction> 0.8 </static_friction>
            <dynamic_friction> 0.5 </dynamic_friction>
            <rolling_friction> 0.02 </rolling_friction>
            <spring_coeff unit="LBS/FT"> 5400 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC"> 400 </damping_coeff>
            <max_steer unit="DEG"> 0.0 </max_steer>
            <brake_group> NONE </brake_group>
            <retractable>0</retractable>
        </contact>
        <contact type="BOGEY" name="RIGHT_SKI">
            <location unit="IN">
                <x> 93 </x>
                <y> 52 </y>
                <z> -10 </z>
            </location>
            <static_friction> 0.8 </static_friction>
            <dynamic_friction> 0.5 </dynamic_friction>
            <rolling_friction> 0.02 </rolling_friction>
            <spring_coeff unit="LBS/FT"> 5400 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC"> 400 </damping_coeff>
            <max_steer unit="DEG"> 0.0 </max_steer>
            <brake_group>NONE </brake_group>
            <retractable>0</retractable>
        </contact>

        <!-- contact 26, 27, 28-->
        <contact type="STRUCTURE" name="LEFT_SKI_LITE">
            <location unit="IN">
                <x> -29.43</x>
                <y> -65   </y>
                <z> -83   </z>
            </location>
            <static_friction> 0.55 </static_friction>
            <dynamic_friction> 0.275 </dynamic_friction>
            <spring_coeff  unit="LBS/FT">     1200.00 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">  400.00 </damping_coeff>
        </contact>
        <contact type="STRUCTURE" name="RIGHT_SKI_LITE">
            <location unit="IN">
                <x> -29.33</x>
                <y>  65   </y>
                <z> -82.4 </z>
            </location>
            <static_friction> 0.55 </static_friction>
            <dynamic_friction> 0.275 </dynamic_friction>
            <spring_coeff  unit="LBS/FT">     1200.00 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">  400.00 </damping_coeff>
        </contact>
        <contact type="STRUCTURE" name="TAIL_SKI_LITE">
            <location unit="IN">
                <x> 199.90</x>
                <y>   0.00</y>
                <z> -32.5.0 </z>
            </location>
            <static_friction>  0.5 </static_friction>
            <dynamic_friction> 0.249 </dynamic_friction>
            <spring_coeff  unit="LBS/FT">   600.00 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC"> 300.00 </damping_coeff>
        </contact>

        <!-- bogey 29 - contact 30 -->
        <contact type="BOGEY" name="NOSE_MAIN">
            <location unit="IN">
                <x> -46.98 </x>
                <y>   0.00 </y>
                <z> -81.00 </z>
            </location>
            <static_friction>  0.8  </static_friction>
            <dynamic_friction> 0.5  </dynamic_friction>
            <rolling_friction> 0.02 </rolling_friction>
            <spring_coeff unit="LBS/FT"> 1800 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC"> 600 </damping_coeff>
            <max_steer unit="DEG"> 10 </max_steer>
            <brake_group> NONE </brake_group>
            <retractable> 0 </retractable>
        </contact>
        <contact type="STRUCTURE" name="NOSE_BROKEN_GEAR">
            <location unit="IN">
                <x>-46.98 </x>
                <y>  0.00 </y>
                <z>  0.00 </z>
            </location>
            <static_friction>  0.8 </static_friction>
            <dynamic_friction> 0.4 </dynamic_friction>
            <spring_coeff unit="LBS/FT">       1830.15 </spring_coeff>
            <damping_coeff unit="LBS/FT/SEC">   366.03 </damping_coeff>
        </contact>

    </ground_reactions>

	<flight_control name="FCS: j3cub">

         <channel name="Landing Gear">
            <!-- Disable gear movement if electrical voltage is too low -->
            <switch name="Gear Command">
                <default value="gear/gear-cmd-norm"/>
                <output>gear/gear-input-norm</output>
                <!-- Route back the (normalized) output of the <kinematic>  to its input in order to disable it. -->
                <test logic="AND" value="gear/gear-pos-norm">
                    /sim/model/pa-18/hydraulics/hydraulic-pump eq 0
                </test>
            </switch>
            <kinematic name="Gr">
                <input>gear/gear-input-norm</input>
                <traverse>
                    <setting>
                        <position>0</position>
                        <time>0 </time>
                    </setting>
                    <setting>
                        <position>1</position>
                        <time>5</time>
                    </setting>
                </traverse>
                <output>gear/gear-pos-norm</output>
            </kinematic>

			<kinematic name="/controls/gear/water-rudder-down">
				<input>/controls/gear/water-rudder</input>
				<traverse>
					<setting>
						<position>0</position>
						<time>0 </time>
					</setting>
					<setting>
						<position>1</position>
						<time>1</time>
					</setting>
				</traverse>
			</kinematic>
		</channel>

		<channel name="Flaps">
			<!-- Use to disable flaps if broken -->
			<switch name="Flaps Command">
				<default value="fcs/flap-cmd-norm"/>
				<output>fcs/flap-input-norm</output>

				<!-- Route back the (normalized) output of the <kinematic>
                     to its input in order to disable it.
  
                <test logic="AND" value="fcs/flap-pos-norm">
                    controls/flight/flaps-broken eq 1
                </test>              -->
			</switch>

			<kinematic name="Flaps Control">
				<input>fcs/flap-input-norm</input>
				<traverse>
					<setting>
						<position>0</position>
						<time>0</time>
					</setting>
					<setting>
						<position>25</position>
						<time>.5</time>
					</setting>
					<setting>
						<position>50</position>
						<time>.5</time>
					</setting>
				</traverse>
				<output>fcs/flap-pos-deg</output>
			</kinematic>

			<aerosurface_scale name="Flap Position Normalizer">
				<input>fcs/flap-pos-deg</input>
				<domain>
					<min>0</min> <!-- Flaps actual minimum position -->
					<max>50</max> <!-- Flaps actual maximum position -->
				</domain>
				<range>
					<min>0</min> <!-- Flaps normalized minimum position -->
					<max>1</max> <!-- Flaps normalized maximum position -->
				</range>
				<output>fcs/flap-pos-norm</output>
			</aerosurface_scale>

			<kinematic name="Flaps Lever">
				<input>/controls/flight/flaps</input>
				<traverse>
					<setting>
						<position>0</position>
						<time>0</time>
					</setting>
					<setting>
						<position>1</position>
						<time>.5</time>
					</setting>
					<setting>
						<position>2</position>
						<time>1</time>
					</setting>
				</traverse>
				<output>/sim/model/pa-18/cockpit/flaps-lever</output>
			</kinematic>
		</channel>

    <channel name="Mixture">
        <!-- If the engine was primed enough times and throttle
             is in starter position, then mixture is 1.
        -->
        <fcs_function name="fcs/mixture-primer-cmd">
            <function>
                <table>
                    <independentVar lookup="row">/controls/engines/engine/primer</independentVar>
                    <independentVar lookup="column">/controls/engines/current-engine/throttle</independentVar>
                    <tableData>
                             0.09    0.1    0.5    0.51
                        2    0       0      0      0
                        3    0       1      1      0
                        4    0       1      1      0
                        5    0       1      1      0
                        6    0       1      1      0
                        7    0       0      0      0
                    </tableData>
                </table>
            </function>
        </fcs_function>

            <pure_gain name="fcs/mixture-primer[0]">
                <input>fcs/mixture-cmd-norm[0]</input>
                <gain>fcs/mixture-primer-cmd</gain>
            </pure_gain>

            <pure_gain name="fcs/mixture-primer[1]">
                <input>fcs/mixture-cmd-norm[1]</input>
                <gain>fcs/mixture-primer-cmd</gain>
            </pure_gain>

            <pure_gain name="fcs/mixture-primer[2]">
                <input>fcs/mixture-cmd-norm[2]</input>
                <gain>fcs/mixture-primer-cmd</gain>
            </pure_gain>

            <!-- Primer logic for 65 HP engine -->
            <switch name="Mixture Position 65 HP">
                <default value="fcs/mixture-cmd-norm[0]"/>
                <output>fcs/mixture-pos-norm[0]</output>
                <!-- Use primer if used and engine is cold. If engine
                     is warm, then the mixture lever is used.
                -->
                <test logic="AND" value="fcs/mixture-primer[0]">
                    /controls/engines/engine/use-primer eq 1
                    /engines/engine[0]/oil-temperature-degf le 75
                </test>
            </switch>

            <!-- Primer logic for 95 HP engine -->
            <switch name="Mixture Position 95 HP">
                <default value="fcs/mixture-cmd-norm[1]"/>
                <output>fcs/mixture-pos-norm[1]</output>
                <!-- Use primer if used and engine is cold. If engine
                     is warm, then the mixture lever is used.
                -->
                <test logic="AND" value="fcs/mixture-primer[1]">
                    /controls/engines/engine/use-primer eq 1
                    /engines/engine[1]/oil-temperature-degf le 75
                </test>
            </switch>

            <!-- Primer logic for 160 HP engine -->
            <switch name="Mixture Position 160 HP">
                <default value="fcs/mixture-cmd-norm[2]"/>
                <output>fcs/mixture-pos-norm[2]</output>
                <!-- Use primer if used and engine is cold. If engine
                     is warm, then the mixture lever is used.
                -->
                <test logic="AND" value="fcs/mixture-primer[2]">
                    /controls/engines/engine/use-primer eq 1
                    /engines/engine[1]/oil-temperature-degf le 75
                </test>
            </switch>
        </channel>

        <channel name="Cowl Grill">
            <switch name="cooling-factor-winterkit">
                <!-- winter kit reduces cooling airflow -->
                <default value=".514"/>
                <test logic="AND" value="0.20">
                    /engines/active-engine/winter-kit-installed  EQ  1
                </test>
                <output>/engines/active-engine/cooling-factor-winterkit</output>
            </switch>
            <aerosurface_scale name="icing-nose-air-inlet">
                <!-- ice accumulation in nose inlets reduces cooling airflow -->
                <input>/fdm/jsbsim/ice/fuselage</input> <!-- ice in inches -->
                <gain>1.0</gain>
                <zero_centered>false</zero_centered>
                <domain>
                  <min>0.00</min>
                  <max>0.010</max> <!-- at this inch the max-range is output (thicker ice does not increase effect further) -->
                </domain>
                <range>
                    <!-- reducing factor: 1=no reduction/0=full blocked; min=no-ice, max=full-ice -->
                    <min>1.00</min>
                    <max>0.75</max>
                </range>
                <clipto>
                    <min>0.75</min>
                    <max>1.00</max>
                </clipto>
                <output>/engines/active-engine/cooling-factor-noseicing</output>
            </aerosurface_scale>
            <fcs_function name="engine-cooling-factor">
                <function>
                    <product>
                        <property>/engines/active-engine/cooling-factor-winterkit</property>
                        <property>/engines/active-engine/cooling-factor-noseicing</property>
                    </product>
                </function>
                <clipto>
                    <min>0</min>
                    <max>1</max>
                </clipto>
                <output>/engines/active-engine/cooling-factor</output> <!-- final cooling factor to engine -->
            </fcs_function>
        </channel>

    </flight_control>

	<!-- **********************************************************************
        AERODYNAMICS
     ***********************************************************************-->

	<aerodynamics file="J3Cub_Datcom_aero.xml"/>

	<!-- *******************************************************************-->

   <external_reactions>

        <force name="hydro-X" frame="LOCAL">
            <location unit="IN">
                <x> 32.6 </x>
                <y> 0 </y>
                <z> 38.5 </z>
            </location>
            <direction>
                <x> 1.0 </x>
                <y> 0.0 </y>
                <z> 0.0 </z>
            </direction>
        </force>
        <force name="hydro-Y" frame="LOCAL">
            <location unit="IN">
                <x> 32.6 </x>
                <y> 0 </y>
                <z> 38.5 </z>
            </location>
            <direction>
                <x> 0.0 </x>
                <y> 1.0 </y>
                <z> 0.0 </z>
            </direction>
        </force>
        <force name="hydro-Z" frame="LOCAL">
            <location unit="IN">
                <x> 32.6 </x>
                <y> 0 </y>
                <z> 38.5 </z>
            </location>
            <direction>
                <x> 0.0 </x>
                <y> 0.0 </y>
                <z>-1.0 </z>
            </direction>
        </force>
        <force name="hydro-pitch[0]" frame="LOCAL">
            <location unit="IN">
                <x> 20.6 </x>
                <y> 0 </y>
                <z> 38.5 </z>
            </location>
            <direction>
                <x> 0.0 </x>
                <y> 0.0 </y>
                <z>-1.0 </z>
            </direction>
        </force>
        <force name="hydro-pitch[1]" frame="LOCAL">
            <location unit="IN">
                <x> 44.6 </x>
                <y> 0 </y>
                <z> 38.5 </z>
            </location>
            <direction>
                <x> 0.0 </x>
                <y> 0.0 </y>
                <z>-1.0 </z>
            </direction>
        </force>
        <force name="hydro-yaw[0]" frame="BODY">
            <location unit="IN">
                <x> 32.6 </x>
                <y>-12.0 </y>
                <z> 38.5 </z>
            </location>
            <direction>
                <x> 1.0 </x>
                <y> 0.0 </y>
                <z> 0.0 </z>
            </direction>
        </force>
        <force name="hydro-yaw[1]" frame="BODY">
            <location unit="IN">
                <x> 32.6 </x>
                <y> 12.0 </y>
                <z> 38.5 </z>
            </location>
            <direction>
                <x> 1.0 </x>
                <y> 0.0 </y>
                <z> 0.0 </z>
            </direction>
        </force>
        <force name="hydro-roll[0]" frame="LOCAL">
            <location unit="IN">
                <x> 32.6 </x>
                <y>-12.0 </y>
                <z> 38.5 </z>
            </location>
            <direction>
                <x> 0.0 </x>
                <y> 0.0 </y>
                <z>-1.0 </z>
            </direction>
        </force>
        <force name="hydro-roll[1]" frame="LOCAL">
            <location unit="IN">
                <x> 32.6 </x>
                <y> 12.0 </y>
                <z> 38.5 </z>
            </location>
            <direction>
                <x> 0.0 </x>
                <y> 0.0 </y>
                <z>-1.0 </z>
            </direction>
        </force>

        <!--
                    Tiedowns use body frame (x positive forward, y positive right, z positive down)
                    -->
                
        <force name="tiedown-left" frame="BODY">
            <location unit="M">
                <x> 0.1188</x>
                <y>-2.2998</y>
                <z> 0.4008</z>
            </location>
            <direction>
                <x>0.0</x>
                <y>0.0</y>
                <z>1.0</z>
            </direction>
        </force>
        <force name="tiedown-right" frame="BODY">
            <location unit="M">
                <x> 0.1188</x>
                <y> 2.2998</y>
                <z> 0.4008</z>
            </location>
            <direction>
                <x>0.0</x>
                <y>0.0</y>
                <z>1.0</z>
            </direction>
        </force>
        <force name="tiedown-tail" frame="BODY">
            <location unit="M">
                <x> 4.7116</x>
                <y> 0.0000</y>
                <z>-0.6663</z>
            </location>
            <direction>
                <x>0.0</x>
                <y>0.0</y>
                <z>1.0</z>
            </direction>
        </force>

        <force name="mooring-north" frame="LOCAL">
            <location unit="FT">
                <x> 0.0 </x>
                <y> 0.0 </y>
                <z> 0.0 </z>
            </location>
            <direction>
                <x> 1.0 </x>
                <y> 0.0 </y>
                <z> 0.0 </z>
            </direction>
        </force>
        <force name="mooring-east" frame="LOCAL">
            <location unit="FT">
                <x> 0.0 </x>
                <y> 0.0 </y>
                <z> 0.0 </z>
            </location>
            <direction>
                <x> 0.0 </x>
                <y> 1.0 </y>
                <z> 0.0 </z>
            </direction>
        </force>
        <force name="mooring-down" frame="LOCAL">
            <location unit="FT">
                <x> 0.0 </x>
                <y> 0.0 </y>
                <z> 1.0 </z>
            </location>
            <direction>
                <x> 1.0 </x>
                <y> 0.0 </y>
                <z> 0.0 </z>
            </direction>
        </force>

        <force name="aerotow" frame="BODY" unit="LBS">
            <location unit="M">
               <x> 5.125</x>
               <y> 0.001</y>
               <z>-0.525</z>
            </location>
            <direction>
                <x>0.0</x>
                <y>0.0</y>
                <z>0.0</z>
             </direction>
        </force>

        <force name="ai-wake" frame="BODY">
            <location unit="IN">
                <!-- Center of the main wing leading edge -->
                <x>0.076023622047</x>
                <y> 0.0</y>
                <z>1.9068503937</z>
            </location>
            <direction>
                <!-- These are dummy values. They are ignored by FlightGear.
                     Their purpose is to avoid JSBSim display warning messages
                     about <direction> not being specified.
                     -->
                <x>1.0</x>
                <y>0.0</y>
                <z>0.0</z>
            </direction>
        </force>
        <moment name="ai-wake" frame="BODY">
            <direction>
                <!-- These are dummy values. They are ignored by FlightGear.
                     Their purpose is to avoid JSBSim display warning messages
                     about <direction> not being specified.
                     -->
                <x>1.0</x>
                <y>0.0</y>
                <z>0.0</z>
            </direction>
        </moment>

    </external_reactions>

    <system file="Conventional Controls.xml"/>
    <system file="fuel"/>
    <system file="bushkit"/>
    <system file="j3cub-ground-effects"/>
    <system file="j3cub-skis"/>
    <system file="hydrodynamics"/>
    <system file="j3cub-hydrodynamics"/>
    <system file="j3cub-damage"/>
    <system file="j3cub-engine"/>
    <system file="j3cub-heat"/>
    <system file="mooring-jsbsim"/>
    <system file="propulsion"/>
    <system file="indicated-airspeed"/>
    <system file="icing"/>
    <system file="static-sources"/> <!-- integrate alternate static source simulation -->
</fdm_config>