{
  "schemaVersion": 1,
  "vehicleType": "multirotor",
  "id": "quad-x-6s",
  "name": "Quad X · 6S powertrain",
  "description": "650 g example with 6S battery sag, discharge, bench-curve propulsion and a component bill of materials. All build and curve values are illustrative estimates.",
  "multirotor": {
    "mode": "angle",
    "maxTiltDeg": 35,
    "maxRateDegS": 180,
    "rateGain": 0.06,
    "attitudeGain": 4
  },
  "provenance": {
    "configuration": {
      "status": "estimated",
      "note": "Illustrative 225 mm, 650 g quad. Component masses, motor/prop curves and electrical parameters are estimates, not measured performance or a commercial product model."
    },
    "powertrain": {
      "status": "estimated",
      "note": "Illustrative 6S 1300 mAh LiPo, 60 milliohm pack resistance, 22.2 V bench curves for 5 inch three-blade props. Replace with measurements for the actual motor, prop, ESC and battery. Static voltage-squared thrust approximation; no thermal, ESC firmware or vortex-ring model."
    }
  },
  "parts": [
    {
      "id": "frame",
      "kind": "body",
      "massKg": 0.125,
      "positionM": [0, 0, 0],
      "sizeM": [0.17, 0.17, 0.012],
      "color": "#262e35",
      "material": {
        "name": "Carbon laminate frame",
        "finish": "carbon"
      },
      "model": "225 mm X frame (estimated)"
    },
    {
      "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"
    },
    {
      "id": "esc",
      "kind": "equipment",
      "massKg": 0.024,
      "positionM": [0, 0, 0],
      "sizeM": [0.035, 0.035, 0.008],
      "color": "#35434a",
      "material": {
        "name": "Four-in-one ESC"
      }
    },
    {
      "id": "flight-controller",
      "kind": "equipment",
      "massKg": 0.009,
      "positionM": [0, 0, -0.008],
      "sizeM": [0.03, 0.03, 0.005],
      "color": "#35434a",
      "material": {
        "name": "FR4 flight-controller PCB"
      }
    },
    {
      "id": "camera",
      "kind": "equipment",
      "massKg": 0.012,
      "positionM": [0.04, 0, 0],
      "sizeM": [0.019, 0.019, 0.018],
      "color": "#35434a",
      "material": {
        "name": "FPV camera"
      }
    },
    {
      "id": "vtx",
      "kind": "equipment",
      "massKg": 0.012,
      "positionM": [-0.04, 0, 0],
      "sizeM": [0.03, 0.025, 0.008],
      "color": "#35434a",
      "material": {
        "name": "Video transmitter"
      }
    },
    {
      "id": "receiver",
      "kind": "equipment",
      "massKg": 0.004,
      "positionM": [-0.025, 0, -0.01],
      "sizeM": [0.02, 0.012, 0.004],
      "color": "#35434a",
      "material": {
        "name": "RC receiver"
      }
    },
    {
      "id": "wiring",
      "kind": "equipment",
      "massKg": 0.025,
      "positionM": [0, 0, 0],
      "sizeM": [0.1, 0.05, 0.015],
      "color": "#35434a",
      "material": {
        "name": "Copper wiring and connectors"
      }
    },
    {
      "id": "hardware",
      "kind": "equipment",
      "massKg": 0.049,
      "positionM": [0, 0, 0],
      "sizeM": [0.1, 0.06, 0.02],
      "color": "#35434a",
      "material": {
        "name": "Steel fasteners and TPU mounts"
      }
    }
  ],
  "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,
      "model": "2207 class motor (estimated)",
      "propeller": "5 inch three blade (estimated)",
      "performance": {
        "referenceVoltage": 22.2,
        "referenceDensityKgM3": 1.225,
        "points": [
          {
            "command": 0,
            "thrustN": 0,
            "currentA": 0
          },
          {
            "command": 0.25,
            "thrustN": 0.6,
            "currentA": 1.4
          },
          {
            "command": 0.5,
            "thrustN": 2.5,
            "currentA": 5
          },
          {
            "command": 0.75,
            "thrustN": 5,
            "currentA": 10.5
          },
          {
            "command": 1,
            "thrustN": 8,
            "currentA": 18
          }
        ]
      },
      "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,
      "model": "2207 class motor (estimated)",
      "propeller": "5 inch three blade (estimated)",
      "performance": {
        "referenceVoltage": 22.2,
        "referenceDensityKgM3": 1.225,
        "points": [
          {
            "command": 0,
            "thrustN": 0,
            "currentA": 0
          },
          {
            "command": 0.25,
            "thrustN": 0.6,
            "currentA": 1.4
          },
          {
            "command": 0.5,
            "thrustN": 2.5,
            "currentA": 5
          },
          {
            "command": 0.75,
            "thrustN": 5,
            "currentA": 10.5
          },
          {
            "command": 1,
            "thrustN": 8,
            "currentA": 18
          }
        ]
      },
      "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,
      "model": "2207 class motor (estimated)",
      "propeller": "5 inch three blade (estimated)",
      "performance": {
        "referenceVoltage": 22.2,
        "referenceDensityKgM3": 1.225,
        "points": [
          {
            "command": 0,
            "thrustN": 0,
            "currentA": 0
          },
          {
            "command": 0.25,
            "thrustN": 0.6,
            "currentA": 1.4
          },
          {
            "command": 0.5,
            "thrustN": 2.5,
            "currentA": 5
          },
          {
            "command": 0.75,
            "thrustN": 5,
            "currentA": 10.5
          },
          {
            "command": 1,
            "thrustN": 8,
            "currentA": 18
          }
        ]
      },
      "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,
      "model": "2207 class motor (estimated)",
      "propeller": "5 inch three blade (estimated)",
      "performance": {
        "referenceVoltage": 22.2,
        "referenceDensityKgM3": 1.225,
        "points": [
          {
            "command": 0,
            "thrustN": 0,
            "currentA": 0
          },
          {
            "command": 0.25,
            "thrustN": 0.6,
            "currentA": 1.4
          },
          {
            "command": 0.5,
            "thrustN": 2.5,
            "currentA": 5
          },
          {
            "command": 0.75,
            "thrustN": 5,
            "currentA": 10.5
          },
          {
            "command": 1,
            "thrustN": 8,
            "currentA": 18
          }
        ]
      },
      "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": 6,
    "capacityMah": 1300,
    "resistanceOhm": 0.06,
    "initialSoc": 0.95,
    "avionicsCurrentA": 0.35,
    "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
      }
    ]
  },
  "bodyDragAreaM2": [0.008, 0.012, 0.025],
  "fpv": {
    "partId": "camera",
    "fovDeg": 90
  },
  "credit": {
    "name": "RCForge",
    "url": "https://github.com/adithya-s-k/RCForge"
  }
}