/usr/share/games/crrcsim/models/qc01.xml is in crrcsim-data 0.9.12-6.1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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<CRRCSim_airplane version="1" type="mcopter01">
<categories>
<category>Rotorcraft</category>
</categories>
<description>
<en>
This is a first quadrocopter model for CRRCSim. Simple graphics.
Note that a quadrocopter's behaviour mainly depends on the
control software running it, so expect this one to behave
different from every quadrocopter around. However, it is helpful
to get a feeling of the visual/orientation problems you'll face
when flying one.
Use the spoiler input to switch between attitude and rate control
when using the third configuration.
</en>
</description>
<changelog>
<change>
<date>2009-07-06</date>
<author>Jens W. Wulf</author>
<en>Created it.</en>
</change>
<change>
<date>2010-05-15</date>
<author>J. Reucker</author>
<en>Added max_force to springs</en>
</change>
<change>
<date>2010-10-21</date>
<author>Jens W. Wulf</author>
<en>Added graphics jww05 (copter5.ac)</en>
</change>
<change>
<date>2010-10-27</date>
<author>Jens W. Wulf</author>
<en>New configuration which allows to switch between rate and attitude control</en>
</change>
</changelog>
<wheels version="1" units="0">
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="0" y="0" z="-0.164042" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="-0.27142879" y="0.87838417" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="-0.1468962" y="0.96159418" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="-2.27654e-17" y="0.99081366" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="0.1468962" y="0.96159418" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="0.27142879" y="0.87838417" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="0" y="0.62007874" z="0.1312336" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="0.27142879" y="-0.87838417" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="0.1468962" y="-0.96159418" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="4.55308e-17" y="-0.99081366" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="-0.1468962" y="-0.96159418" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="-0.27142879" y="-0.87838417" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="-2.845675e-18" y="-0.62007874" z="0.1312336" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="-0.87838417" y="0.27142879" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="-0.87838417" y="-0.27142879" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="-0.96159418" y="-0.1468962" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="-0.99081366" y="-9.10616e-17" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="-0.96159418" y="0.1468962" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="-0.62007874" y="2.845675e-18" z="0.1312336" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="0.87838417" y="0.27142879" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="0.96159418" y="0.1468962" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="0.99081366" y="2.27654e-17" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="0.96159418" y="-0.1468962" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="0.87838417" y="-0.27142879" z="-0.12139108" />
</wheel>
<wheel percent_brake="0.5" caster_angle_rad="0">
<spring constant="7" damping="0.06" max_force="2.0" />
<pos x="0.62007874" y="-2.845675e-18" z="0.1312336" />
</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="0" x="0" y="0" z="-0.0054680666" />
<graphics version="1" model="qc01.ac">
<descr_long>
<en>cross config</en>
</descr_long>
<descr_short>
<en>cross config</en>
</descr_short>
</graphics>
<graphics version="1" model="qc01_x.ac">
<descr_long>
<en>x config: although it is possible to simulate the x config instead of only
displaying it, this is not done here -- it would double this files size, mainly
copying everything only to get the same behaviour. However, hard points/ground interaction
is not perfect using this graphics config.
</en>
</descr_long>
<descr_short>
<en>x config</en>
</descr_short>
</graphics>
<graphics version="1" model="copter3.ac">
<descr_long>
<en>jww03</en>
</descr_long>
<descr_short>
<en>jww03</en>
</descr_short>
</graphics>
<graphics version="1" model="copter5.ac">
<descr_long>
<en>jww05</en>
</descr_long>
<descr_short>
<en>jww05</en>
</descr_short>
</graphics>
<config version="1">
<descr_long>
<en>attitude controlled</en>
</descr_long>
<descr_short>
<en>attitude controlled</en>
</descr_short>
<mass_inertia version="1" units="1" Mass="0.40" I_xx="0.0034965875"
I_yy="0.0034965875" I_zz="0.0068260583" I_xz="1.3235659e-20" />
<sound version="1">
<sample filename="fan.wav" type="1" pitchfactor="0.03" maxvolume="1" />
</sound>
<aero version="1" >
<yaw dist="0.00" damp1="0.00341" />
<roll dist="0.00" damp1="0.0009" />
<speed damp="0.006" />
<props> <!-- positions relative to center of gravity! -->
<prop x= "0.185" y= "0" dir="-1" />
<prop x="-0.185" y= "0" dir="-1" />
<prop x= "0" y= "0.185" />
<prop x= "0" y="-0.185" />
</props>
</aero>
<controllers>
<ScaleThrottle off="0.06" min="0.178" mul="0.54" />
<MCopter01>
<roll scale="1.8" kp="7" kd="0.246" />
<pitch scale="-1.8" kp="7" kd="0.246" />
<yaw scale="-9.93" kp="0.352" ki="0.835" />
</MCopter01>
</controllers>
<power>
<battery C="0.375" U_0="12" U_off="0" R_I="10E-3" throttle_min="0">
<U_0rel>
1.00;
1.00;
</U_0rel>
<shaft J="0" brake="0">
<propeller D="0.235" H="0.1644" J="0" n_fold="-1" />
<engine k_M="0.008536" R_I="0.3712" J_M="5.0E-6" I_0="0" rate_max="999999999" log="0" />
</shaft>
</battery>
</power>
</config>
<config version="1">
<descr_long>
<en>rate controlled</en>
</descr_long>
<descr_short>
<en>rate controlled</en>
</descr_short>
<mass_inertia version="1" units="1" Mass="0.4" I_xx="0.0034965875"
I_yy="0.0034965875" I_zz="0.0068260583" I_xz="1.3235659e-20" />
<sound version="1">
<sample filename="fan.wav" type="1" pitchfactor="0.03" maxvolume="1" />
</sound>
<aero version="1" >
<yaw dist="0.00" damp1="0.00341" />
<roll dist="0.00" damp1="0.0009" />
<speed damp="0.006" />
<props> <!-- positions relative to center of gravity! -->
<prop x= "0.185" y= "0" dir="-1" />
<prop x="-0.185" y= "0" dir="-1" />
<prop x= "0" y= "0.185" />
<prop x= "0" y="-0.185" />
</props>
</aero>
<controllers>
<ScaleThrottle off="0.06" min="0.178" mul="0.54" />
<LimitFlipThrottle max90="0.618" max180="0.3" />
<Omega>
<scale_roll_pitch a="3.8544" b="249.69" exp="6" />
<roll scale= "1" kp="0.246" ki="0.835" kd="0.0015" />
<!-- todo: kd müsste eigentlich 0.0053 sein.
Mit damp1=0.0009 geht 0.0025,
für 0.0053 braucht man damp1=0.5, was ich aber
definitiv nicht gemessen habe. -->
<pitch scale= "-1" kp="0.246" ki="0.835" kd="0.0015" />
<yaw scale="-9.93" kp="0.352" ki="0.835" />
</Omega>
</controllers>
<power>
<battery C="0.375" U_0="12" U_off="0" R_I="10E-3" throttle_min="0">
<U_0rel>
1.00;
1.00;
</U_0rel>
<shaft J="0" brake="0">
<propeller D="0.235" H="0.1644" J="0" n_fold="-1" />
<engine k_M="0.008536" R_I="0.3712" J_M="5.0E-6" I_0="0" rate_max="999999999" log="0" />
</shaft>
</battery>
</power>
</config>
<config version="1">
<descr_long>
<en>attitude or rate controlled (use spoiler channel)</en>
</descr_long>
<descr_short>
<en>attitude or rate controlled</en>
</descr_short>
<mass_inertia version="1" units="1" Mass="0.40" I_xx="0.0034965875"
I_yy="0.0034965875" I_zz="0.0068260583" I_xz="1.3235659e-20" />
<sound version="1">
<sample filename="fan.wav" type="1" pitchfactor="0.03" maxvolume="1" />
</sound>
<aero version="1" >
<yaw dist="0.00" damp1="0.00341" />
<roll dist="0.00" damp1="0.0009" />
<speed damp="0.006" />
<props> <!-- positions relative to center of gravity! -->
<prop x= "0.185" y= "0" dir="-1" />
<prop x="-0.185" y= "0" dir="-1" />
<prop x= "0" y= "0.185" />
<prop x= "0" y="-0.185" />
</props>
</aero>
<controllers>
<ScaleThrottle off="0.06" min="0.178" mul="0.54" />
<MCopter01>
<roll scale="1.8" kp="7" kd="0.246" rate_max="3.878" />
<pitch scale="-1.8" kp="7" kd="0.246" rate_max="3.878" />
<yaw scale="-9.93" kp="0.352" ki="0.835" />
<Omega switch_channel="spoiler">
<scale_roll_pitch a="3.8544" b="249.69" exp="6" />
<roll scale= "1" kp="0.246" ki="0.835" kd="0.0015" />
<pitch scale="-1" kp="0.246" ki="0.835" kd="0.0015" />
</Omega>
</MCopter01>
</controllers>
<power>
<battery C="0.375" U_0="12" U_off="0" R_I="10E-3" throttle_min="0">
<U_0rel>
1.00;
1.00;
</U_0rel>
<shaft J="0" brake="0">
<propeller D="0.235" H="0.1644" J="0" n_fold="-1" />
<engine k_M="0.008536" R_I="0.3712" J_M="5.0E-6" I_0="0" rate_max="999999999" log="0" />
</shaft>
</battery>
</power>
</config>
<launch>
<preset name_en="heli default (ground)" altitude="0" velocity_rel="0" angle="0" sal="0" rel_to_player="1" rel_front="5" rel_right="0" />
</launch>
</CRRCSim_airplane>
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