From 724a3b3a18ada539368606d047cebf9cd9f1f202 Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Thu, 21 Dec 2023 13:27:58 +0000
Subject: [PATCH] Zephyr: disable moment coefficient contribution

- Changed behaviour in Gazebo Harmonic

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 models/zephyr_with_ardupilot/model.sdf | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/models/zephyr_with_ardupilot/model.sdf b/models/zephyr_with_ardupilot/model.sdf
index bceafa3..20dc988 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>