{
  "schemaVersion": 1,
  "vehicleType": "multirotor",
  "id": "quad-x-5inch",
  "name": "Quad X · 5 inch",
  "description": "Estimated 225 mm Quad X, 650 g, 5 inch propellers. Angle-mode controller, manual throttle; no altitude or position hold.",
  "multirotor": {
    "mode": "angle",
    "maxTiltDeg": 35,
    "maxRateDegS": 180,
    "rateGain": 0.06,
    "attitudeGain": 4
  },
  "provenance": {
    "configuration": {
      "status": "estimated",
      "note": "Illustrative 5 inch quad, not any commercial product or measured build. 225 mm motor diagonal, 650 g all-up, 8 N per motor, 0.04 s actuator lag. Battery/ESC electrical behavior is not simulated."
    },
    "electricalEstimate": {
      "status": "estimated",
      "note": "4S 2200 mAh pack, 0.05 ohm DC resistance and OCV curve are illustrative. Component battery mass remains unchanged. Static motor current is ideal induced power T^(3/2)/sqrt(2*rho*A), divided by an assumed 0.45 overall factor and nominal voltage, plus 0.2 A at full command. Thrust commands retain the prior estimated linear thrust curve. This is NOT a bench motor/prop test, efficiency map or endurance validation; replace with measured curves. Forward-flight current and servo loads are not resolved.",
      "url": "https://www.grc.nasa.gov/WWW/K-12/BGP/propth.html"
    }
  },
  "parts": [
    {
      "id": "frame",
      "kind": "body",
      "massKg": 0.26,
      "positionM": [0, 0, 0],
      "sizeM": [0.17, 0.17, 0.012],
      "color": "#262e35"
    },
    {
      "id": "battery",
      "kind": "battery",
      "massKg": 0.25,
      "positionM": [0, 0, -0.025],
      "sizeM": [0.075, 0.035, 0.04],
      "color": "#546273"
    },
    {
      "id": "motor-1",
      "kind": "motor",
      "massKg": 0.035,
      "positionM": [0.07955, -0.07955, -0.012],
      "sizeM": [0.026, 0.026, 0.02],
      "color": "#546273"
    },
    {
      "id": "motor-2",
      "kind": "motor",
      "massKg": 0.035,
      "positionM": [0.07955, 0.07955, -0.012],
      "sizeM": [0.026, 0.026, 0.02],
      "color": "#546273"
    },
    {
      "id": "motor-3",
      "kind": "motor",
      "massKg": 0.035,
      "positionM": [-0.07955, 0.07955, -0.012],
      "sizeM": [0.026, 0.026, 0.02],
      "color": "#546273"
    },
    {
      "id": "motor-4",
      "kind": "motor",
      "massKg": 0.035,
      "positionM": [-0.07955, -0.07955, -0.012],
      "sizeM": [0.026, 0.026, 0.02],
      "color": "#546273"
    }
  ],
  "surfaces": [],
  "motors": [
    {
      "id": "rotor-1",
      "positionM": [0.07955, -0.07955, -0.025],
      "maxThrustN": 8,
      "zeroThrustSpeedMps": 50,
      "responseSeconds": 0.04,
      "yawMix": 0,
      "propDiameterM": 0.127,
      "spin": "cw",
      "torquePerThrustM": 0.015,
      "performance": {
        "referenceVoltage": 14.8,
        "referenceDensityKgM3": 1.225,
        "points": [
          {
            "command": 0,
            "thrustN": 0,
            "currentA": 0.0
          },
          {
            "command": 0.1,
            "thrustN": 0.8,
            "currentA": 0.629858
          },
          {
            "command": 0.25,
            "thrustN": 2.0,
            "currentA": 2.460677
          },
          {
            "command": 0.5,
            "thrustN": 4.0,
            "currentA": 6.918425
          },
          {
            "command": 0.75,
            "thrustN": 6.0,
            "currentA": 12.676246
          },
          {
            "command": 1,
            "thrustN": 8,
            "currentA": 19.485418
          }
        ]
      },
      "partId": "motor-1"
    },
    {
      "id": "rotor-2",
      "positionM": [0.07955, 0.07955, -0.025],
      "maxThrustN": 8,
      "zeroThrustSpeedMps": 50,
      "responseSeconds": 0.04,
      "yawMix": 0,
      "propDiameterM": 0.127,
      "spin": "ccw",
      "torquePerThrustM": 0.015,
      "performance": {
        "referenceVoltage": 14.8,
        "referenceDensityKgM3": 1.225,
        "points": [
          {
            "command": 0,
            "thrustN": 0,
            "currentA": 0.0
          },
          {
            "command": 0.1,
            "thrustN": 0.8,
            "currentA": 0.629858
          },
          {
            "command": 0.25,
            "thrustN": 2.0,
            "currentA": 2.460677
          },
          {
            "command": 0.5,
            "thrustN": 4.0,
            "currentA": 6.918425
          },
          {
            "command": 0.75,
            "thrustN": 6.0,
            "currentA": 12.676246
          },
          {
            "command": 1,
            "thrustN": 8,
            "currentA": 19.485418
          }
        ]
      },
      "partId": "motor-2"
    },
    {
      "id": "rotor-3",
      "positionM": [-0.07955, 0.07955, -0.025],
      "maxThrustN": 8,
      "zeroThrustSpeedMps": 50,
      "responseSeconds": 0.04,
      "yawMix": 0,
      "propDiameterM": 0.127,
      "spin": "cw",
      "torquePerThrustM": 0.015,
      "performance": {
        "referenceVoltage": 14.8,
        "referenceDensityKgM3": 1.225,
        "points": [
          {
            "command": 0,
            "thrustN": 0,
            "currentA": 0.0
          },
          {
            "command": 0.1,
            "thrustN": 0.8,
            "currentA": 0.629858
          },
          {
            "command": 0.25,
            "thrustN": 2.0,
            "currentA": 2.460677
          },
          {
            "command": 0.5,
            "thrustN": 4.0,
            "currentA": 6.918425
          },
          {
            "command": 0.75,
            "thrustN": 6.0,
            "currentA": 12.676246
          },
          {
            "command": 1,
            "thrustN": 8,
            "currentA": 19.485418
          }
        ]
      },
      "partId": "motor-3"
    },
    {
      "id": "rotor-4",
      "positionM": [-0.07955, -0.07955, -0.025],
      "maxThrustN": 8,
      "zeroThrustSpeedMps": 50,
      "responseSeconds": 0.04,
      "yawMix": 0,
      "propDiameterM": 0.127,
      "spin": "ccw",
      "torquePerThrustM": 0.015,
      "performance": {
        "referenceVoltage": 14.8,
        "referenceDensityKgM3": 1.225,
        "points": [
          {
            "command": 0,
            "thrustN": 0,
            "currentA": 0.0
          },
          {
            "command": 0.1,
            "thrustN": 0.8,
            "currentA": 0.629858
          },
          {
            "command": 0.25,
            "thrustN": 2.0,
            "currentA": 2.460677
          },
          {
            "command": 0.5,
            "thrustN": 4.0,
            "currentA": 6.918425
          },
          {
            "command": 0.75,
            "thrustN": 6.0,
            "currentA": 12.676246
          },
          {
            "command": 1,
            "thrustN": 8,
            "currentA": 19.485418
          }
        ]
      },
      "partId": "motor-4"
    }
  ],
  "contactPoints": [
    {
      "id": "foot-1",
      "positionM": [0.051707499999999997, -0.051707499999999997, 0.028],
      "spanLinked": false,
      "kind": "skid",
      "steering": false,
      "wheelRadiusM": 0.008
    },
    {
      "id": "foot-2",
      "positionM": [0.051707499999999997, 0.051707499999999997, 0.028],
      "spanLinked": false,
      "kind": "skid",
      "steering": false,
      "wheelRadiusM": 0.008
    },
    {
      "id": "foot-3",
      "positionM": [-0.051707499999999997, 0.051707499999999997, 0.028],
      "spanLinked": false,
      "kind": "skid",
      "steering": false,
      "wheelRadiusM": 0.008
    },
    {
      "id": "foot-4",
      "positionM": [-0.051707499999999997, -0.051707499999999997, 0.028],
      "spanLinked": false,
      "kind": "skid",
      "steering": false,
      "wheelRadiusM": 0.008
    }
  ],
  "reference": {
    "spanM": 0.225,
    "areaM2": 0.025,
    "cgFromLeadingEdgeM": 0,
    "leadingEdgeXM": 0
  },
  "fuselageDragAreaM2": 0.018,
  "angularDamping": [0.002, 0.002, 0.003],
  "battery": {
    "partId": "battery",
    "chemistry": "LiPo",
    "cells": 4,
    "capacityMah": 2200,
    "resistanceOhm": 0.05,
    "initialSoc": 0.95,
    "avionicsCurrentA": 0.2,
    "voltageCurve": [
      {
        "soc": 0,
        "voltsPerCell": 3.3
      },
      {
        "soc": 0.1,
        "voltsPerCell": 3.65
      },
      {
        "soc": 0.5,
        "voltsPerCell": 3.8
      },
      {
        "soc": 0.9,
        "voltsPerCell": 4.1
      },
      {
        "soc": 1,
        "voltsPerCell": 4.2
      }
    ]
  },
  "credit": {
    "name": "RCForge",
    "url": "https://github.com/adithya-s-k/RCForge"
  }
}