<?xml version="1.0" ?>
<!--
  Ignition Gazebo lift-drag system demo

  This file was adapted from osrf/gazebo/worlds/propeller_plane_demo.world

  Try sending commands:

    ign topic -t "/model/propeller_plane/joint/rod_1_joint/cmd_force" -m ignition.msgs.Double  -p "data: 70"

-->
<sdf version="1.6">
  <world name="lift_drag">

    <plugin
      filename="ignition-gazebo-physics-system"
      name="ignition::gazebo::systems::Physics">
    </plugin>
    <plugin
      filename="ignition-gazebo-user-commands-system"
      name="ignition::gazebo::systems::UserCommands">
    </plugin>
    <plugin
      filename="ignition-gazebo-scene-broadcaster-system"
      name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>
    <gui fullscreen="0">

      <!-- 3D scene -->
      <plugin filename="GzScene3D" name="3D View">
        <ignition-gui>
          <title>3D View</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="string" key="state">docked</property>
        </ignition-gui>

        <engine>ogre2</engine>
        <scene>scene</scene>
        <ambient_light>0.4 0.4 0.4</ambient_light>
        <background_color>0.8 0.8 0.8</background_color>
        <camera_pose>20 0 3 0 0.0 3.14</camera_pose>
      </plugin>

      <!-- World control -->
      <plugin filename="WorldControl" name="World control">
        <ignition-gui>
          <title>World control</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="bool" key="resizable">false</property>
          <property type="double" key="height">72</property>
          <property type="double" key="width">121</property>
          <property type="double" key="z">1</property>

          <property type="string" key="state">floating</property>
          <anchors target="3D View">
            <line own="left" target="left"/>
            <line own="bottom" target="bottom"/>
          </anchors>
        </ignition-gui>

        <play_pause>true</play_pause>
        <step>true</step>
        <start_paused>true</start_paused>

      </plugin>

      <!-- World statistics -->
      <plugin filename="WorldStats" name="World stats">
        <ignition-gui>
          <title>World stats</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="bool" key="resizable">false</property>
          <property type="double" key="height">110</property>
          <property type="double" key="width">290</property>
          <property type="double" key="z">1</property>

          <property type="string" key="state">floating</property>
          <anchors target="3D View">
            <line own="right" target="right"/>
            <line own="bottom" target="bottom"/>
          </anchors>
        </ignition-gui>

        <sim_time>true</sim_time>
        <real_time>true</real_time>
        <real_time_factor>true</real_time_factor>
        <iterations>true</iterations>
      </plugin>
    </gui>

    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>1 1 1 1</diffuse>
      <specular>0.5 0.5 0.5 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>

    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100000 100</size>
            </plane>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100000 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
        </visual>
      </link>
    </model>

    <model name="propeller_plane">
      <pose>0 0 0 0 0 0</pose>
      <static>false</static>
      <link name="body">
        <pose>5.0 0 1.5 0 0 0</pose>
        <inertial>
          <pose>-1.5 0.0 0.0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>5.8</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>10.8</iyy>
            <iyz>0.0</iyz>
            <izz>10.8</izz>
          </inertia>
          <mass>200.0</mass>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>10 1 1</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.3</mu>
                <mu2>0.3</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>10 1 1</size>
            </box>
          </geometry>
          <material>
            <ambient>0.2 0.2 0.2 1.0</ambient>
            <diffuse>.421 0.225 0.0 1.0</diffuse>
          </material>
        </visual>
        <sensor name="camera" type="camera">
          <pose>25 0 0.0 0 0.0 3.1416</pose>
          <camera>
            <horizontal_fov>1.347</horizontal_fov>
            <image>
              <width>320</width>
              <height>240</height>
            </image>
            <clip>
              <near>0.1</near>
              <far>1000</far>
            </clip>
          </camera>
          <always_on>1</always_on>
          <update_rate>30</update_rate>
          <visualize>true</visualize>
        </sensor>
      </link>
      <link name="wheel_1">
        <pose>9.0 0 0.25 1.57079 0 0</pose>
        <inertial>
          <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.8</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.8</iyy>
            <iyz>0.0</iyz>
            <izz>0.8</izz>
          </inertia>
          <mass>10.0</mass>
        </inertial>
        <collision name="collision">
          <geometry>
            <cylinder>
              <radius>0.25</radius>
              <length>0.03</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.3</mu>
                <mu2>0.3</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <cylinder>
              <radius>0.25</radius>
              <length>0.03</length>
            </cylinder>
          </geometry>
          <material>
            <ambient>0.2 0.2 0.2 1.0</ambient>
            <diffuse>.421 0.225 0.0 1.0</diffuse>
          </material>
        </visual>
      </link>
      <link name="wheel_2">
        <pose>1.0 -2.0 0.25 1.57079 0 0</pose>
        <inertial>
          <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.8</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.8</iyy>
            <iyz>0.0</iyz>
            <izz>0.8</izz>
          </inertia>
          <mass>10.0</mass>
        </inertial>
        <collision name="collision">
          <geometry>
            <cylinder>
              <radius>0.25</radius>
              <length>0.03</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.3</mu>
                <mu2>0.3</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <cylinder>
              <radius>0.25</radius>
              <length>0.03</length>
            </cylinder>
          </geometry>
          <material>
            <ambient>0.2 0.2 0.2 1.0</ambient>
            <diffuse>.421 0.225 0.0 1.0</diffuse>
          </material>
        </visual>
      </link>
      <link name="wheel_3">
        <pose>1.0 2.0 0.25 1.57079 0 0</pose>
        <inertial>
          <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.8</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.8</iyy>
            <iyz>0.0</iyz>
            <izz>0.8</izz>
          </inertia>
          <mass>10.0</mass>
        </inertial>
        <collision name="collision">
          <geometry>
            <cylinder>
              <radius>0.25</radius>
              <length>0.03</length>
            </cylinder>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>0.3</mu>
                <mu2>0.3</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <cylinder>
              <radius>0.25</radius>
              <length>0.03</length>
            </cylinder>
          </geometry>
          <material>
            <ambient>0.2 0.2 0.2 1.0</ambient>
            <diffuse>.421 0.225 0.0 1.0</diffuse>
          </material>
        </visual>
      </link>
      <link name="rod_1">
        <pose>-0.25 0 1.5 0 0 0</pose>
        <inertial>
          <pose>0.0 0.0 0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.0012</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.012</iyy>
            <iyz>0.0</iyz>
            <izz>0.012</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.25 0.02 0.02</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.25 0.02 0.02</size>
            </box>
          </geometry>
          <material>
            <ambient>0.3 0.3 0.3 1.0</ambient>
            <diffuse>.421 0.225 0.0 1.0</diffuse>
          </material>
        </visual>
      </link>


      <!-- propeller -->
      <link name="blade_1">
        <pose>-0.25 0 1.5 0 0 0</pose>
        <inertial>
          <pose>0.0 0.5 0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.00465</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.00006</iyy>
            <iyz>0.0</iyz>
            <izz>0.00470</izz>
          </inertia>
          <mass>0.1</mass>
        </inertial>
        <collision name="collision">
          <pose>0.0 0.5 0 0.0 0.0 0.0</pose>
          <geometry>
            <box>
              <size>0.01 1.0 0.2</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <pose>0.0 0.5 0 0.0 0.0 0.0</pose>
          <geometry>
            <box>
              <size>0.01 1.0 0.2</size>
            </box>
          </geometry>
          <material>
            <ambient>0.5 0.2 0.2 1.0</ambient>
            <diffuse>.421 0.225 0.0 1.0</diffuse>
          </material>
        </visual>
      </link>
      <link name="blade_2">
        <pose>-0.25 0 1.5 0 0 3.141593</pose>
        <inertial>
          <pose>0.0 0.5 0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.00465</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.00006</iyy>
            <iyz>0.0</iyz>
            <izz>0.00470</izz>
          </inertia>
          <mass>0.1</mass>
        </inertial>
        <collision name="collision">
          <pose>0.0 0.5 0 0.0 0.0 0.0</pose>
          <geometry>
            <box>
              <size>0.01 1.0 0.2</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <pose>0.0 0.5 0 0.0 0.0 0</pose>
          <geometry>
            <box>
              <size>0.01 1.0 0.2</size>
            </box>
          </geometry>
          <material>
            <ambient>0.2 0.5 0.2 1.0</ambient>
            <diffuse>.421 0.225 0.0 1.0</diffuse>
          </material>
        </visual>
      </link>
      <joint name="blade_1_joint" type="fixed">
        <parent>rod_1</parent>
        <child>blade_1</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
      </joint>
      <joint name="blade_2_joint" type="fixed">
        <parent>rod_1</parent>
        <child>blade_2</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
      </joint>
      <plugin
        filename="ignition-gazebo-lift-drag-system"
        name="ignition::gazebo::systems::LiftDrag">
        <a0>0.2</a0>
        <cla>10.000</cla>
        <cda>0.0001</cda>
        <cma>0.00</cma>
        <alpha_stall>10.0</alpha_stall>
        <cla_stall>1.0</cla_stall>
        <cda_stall>0.001</cda_stall>
        <cma_stall>0.0</cma_stall>
        <cp>0.0 0.5 0</cp>
        <area>0.2</area>
        <air_density>1.2041</air_density>
        <forward>0 0 -1</forward>
        <upward>-1 0 0</upward>
        <link_name>blade_1</link_name>
      </plugin>
      <plugin
        filename="ignition-gazebo-lift-drag-system"
        name="ignition::gazebo::systems::LiftDrag">
        <a0>0.2</a0>
        <cla>10.000</cla>
        <cda>0.0001</cda>
        <cma>0.00</cma>
        <alpha_stall>10.0</alpha_stall>
        <cla_stall>1.0</cla_stall>
        <cda_stall>0.001</cda_stall>
        <cma_stall>0.0</cma_stall>
        <cp>0.0 0.5 0</cp>
        <area>0.2</area>
        <air_density>1.2041</air_density>
        <forward>0 0 1</forward>
        <upward>1 0 0</upward>
        <link_name>blade_2</link_name>
      </plugin>
      <joint name="wheel_1_joint" type="revolute">
        <parent>body</parent>
        <child>wheel_1</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>-1e16</lower>
            <upper>1e16</upper>
          </limit>
          <xyz>0.0 1.0 0.0</xyz>
          <dynamics>
            <damping>0.0001</damping>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
          </ode>
        </physics>
      </joint>
      <joint name="wheel_2_joint" type="revolute">
        <parent>body</parent>
        <child>wheel_2</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>-1e16</lower>
            <upper>1e16</upper>
          </limit>
          <xyz>0.0 1.0 0.0</xyz>
          <dynamics>
            <damping>0.0001</damping>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
          </ode>
        </physics>
      </joint>
      <joint name="wheel_3_joint" type="revolute">
        <parent>body</parent>
        <child>wheel_3</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <use_parent_model_frame>1</use_parent_model_frame>
          <limit>
            <lower>-1e16</lower>
            <upper>1e16</upper>
          </limit>
          <xyz>0.0 1.0 0.0</xyz>
          <dynamics>
            <damping>0.0001</damping>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
          </ode>
        </physics>
      </joint>
      <joint name="rod_1_joint" type="revolute">
        <parent>body</parent>
        <child>rod_1</child>
        <axis>
          <use_parent_model_frame>0</use_parent_model_frame>
          <limit>
            <lower>-1e16</lower>
            <upper>1e16</upper>
          </limit>
          <xyz>-1.0 0.0 0.0</xyz>
          <dynamics>
            <damping>0.001</damping>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
          </ode>
        </physics>
      </joint>

      <link name="wing_right">
        <pose>3 0 1.5 0.2 0 0</pose>
        <inertial>
          <pose>0.0 5.5 0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.465</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.006</iyy>
            <iyz>0.0</iyz>
            <izz>0.470</izz>
          </inertia>
          <mass>10.0</mass>
        </inertial>
        <collision name="collision">
          <pose>0.0 5.5 0 0.0 0.0 0.0</pose>
          <geometry>
            <box>
              <size>1.0 10.0 0.01</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <pose>0.0 5.5 0 0.0 0.0 0.0</pose>
          <geometry>
            <box>
              <size>1.0 10.0 0.01</size>
            </box>
          </geometry>
          <material>
            <ambient>0.5 0.2 0.2 1.0</ambient>
            <diffuse>.421 0.225 0.0 1.0</diffuse>
          </material>
        </visual>
      </link>
      <link name="wing_left">
        <pose>3 0 1.5 -0.2 0 0</pose>
        <inertial>
          <pose>0.0 -5.5 0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.465</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.006</iyy>
            <iyz>0.0</iyz>
            <izz>0.470</izz>
          </inertia>
          <mass>10.0</mass>
        </inertial>
        <collision name="collision">
          <pose>0.0 -5.5 0 0.0 0.0 0.0</pose>
          <geometry>
            <box>
              <size>1.0 10.0 0.01</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <pose>0.0 -5.5 0 0.0 0.0 0</pose>
          <geometry>
            <box>
              <size>1.0 10.0 0.01</size>
            </box>
          </geometry>
          <material>
            <ambient>0.2 0.5 0.2 1.0</ambient>
            <diffuse>.421 0.225 0.0 1.0</diffuse>
          </material>
        </visual>
      </link>
      <!-- <joint name="wing_right_joint" type="revolute"> -->
      <joint name="wing_right_joint" type="fixed">
        <parent>body</parent>
        <child>wing_right</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <limit>
            <lower>-0.3</lower>
            <upper>0.3</upper>
          </limit>
          <xyz>0.0 0.98 0.198669</xyz>
          <dynamics>
            <damping>5.000000</damping>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
          </ode>
        </physics>
      </joint>
      <!-- <joint name="wing_left_joint" type="revolute"> -->
      <joint name="wing_left_joint" type="fixed">
        <parent>body</parent>
        <child>wing_left</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <limit>
            <lower>-0.3</lower>
            <upper>0.3</upper>
          </limit>
          <xyz>0.0 -0.98 0.198669</xyz>
          <dynamics>
            <damping>5.000000</damping>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
          </ode>
        </physics>
      </joint>


      <link name="elevator">
        <pose>9 0 1.5 0 0 0</pose>
        <inertial>
          <pose>0.0 0.0 0 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.0465</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.006</iyy>
            <iyz>0.0</iyz>
            <izz>0.0470</izz>
          </inertia>
          <mass>4.0</mass>
        </inertial>
        <collision name="collision">
          <pose>0.0 0.0 0 0.0 0.0 0.0</pose>
          <geometry>
            <box>
              <size>1.0 6.0 0.01</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <pose>0.0 0.0 0 0.0 0.0 0.0</pose>
          <geometry>
            <box>
              <size>1.0 6.0 0.01</size>
            </box>
          </geometry>
          <material>
            <ambient>0.5 0.2 0.2 1.0</ambient>
            <diffuse>.421 0.225 0.0 1.0</diffuse>
          </material>
        </visual>
      </link>
      <!-- <joint name="elevator_joint" type="revolute"> -->
      <joint name="elevator_joint" type="fixed">
        <parent>body</parent>
        <child>elevator</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <limit>
            <lower>-0.5</lower>
            <upper>0.5</upper>
          </limit>
          <xyz>0.0 1.0 0.0</xyz>
          <dynamics>
            <damping>5.000000</damping>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
          </ode>
        </physics>
      </joint>

      <link name="rudder">
        <pose>9 0 2.0 0 0 0</pose>
        <inertial>
          <pose>0.0 0 1 0.0 0.0 0.0</pose>
          <inertia>
            <ixx>0.0465</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.0006</iyy>
            <iyz>0.0</iyz>
            <izz>0.0470</izz>
          </inertia>
          <mass>2.0</mass>
        </inertial>
        <collision name="collision">
          <pose>0.0 0 1 0.0 0.0 0.0</pose>
          <geometry>
            <box>
              <size>1.5 0.01 2.0</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <pose>0.0 0 1 0.0 0.0 0</pose>
          <geometry>
            <box>
              <size>1.5 0.01 2.0</size>
            </box>
          </geometry>
          <material>
            <ambient>0.2 0.5 0.2 1.0</ambient>
            <diffuse>.421 0.225 0.0 1.0</diffuse>
          </material>
        </visual>
      </link>
      <!-- <joint name="rudder_joint" type="revolute"> -->
      <joint name="rudder_joint" type="fixed">
        <parent>body</parent>
        <child>rudder</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <limit>
            <lower>-0.3</lower>
            <upper>0.3</upper>
          </limit>
          <xyz>0.0 0.0 1.0</xyz>
          <dynamics>
            <damping>5.000000</damping>
          </dynamics>
        </axis>
        <physics>
          <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
          </ode>
        </physics>
      </joint>


      <plugin
        filename="ignition-gazebo-lift-drag-system"
        name="ignition::gazebo::systems::LiftDrag">
        <a0>0.1</a0>
        <cla>4.000</cla>
        <cda>0.001</cda>
        <cma>0.00</cma>
        <alpha_stall>1.0</alpha_stall>
        <cla_stall>-1.0</cla_stall>
        <cda_stall>0.00</cda_stall>
        <cma_stall>0.0</cma_stall>
        <cp>0.0 5.0 0</cp>
        <area>10</area>
        <air_density>1.2041</air_density>
        <forward>-1 0 0</forward>
        <upward>0 0 1</upward>
        <link_name>wing_right</link_name>
      </plugin>
      <plugin
        filename="ignition-gazebo-lift-drag-system"
        name="ignition::gazebo::systems::LiftDrag">
        <a0>0.1</a0>
        <cla>4.000</cla>
        <cda>0.001</cda>
        <cma>0.00</cma>
        <alpha_stall>1.0</alpha_stall>
        <cla_stall>-1.0</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <cp>0.0 -5.0 0</cp>
        <area>10</area>
        <air_density>1.2041</air_density>
        <forward>-1 0 0</forward>
        <upward>0 0 1</upward>
        <link_name>wing_left</link_name>
      </plugin>
      <plugin
        filename="ignition-gazebo-lift-drag-system"
        name="ignition::gazebo::systems::LiftDrag">
        <a0>0.02</a0>
        <cla>4.000</cla>
        <cda>0.001</cda>
        <cma>0.00</cma>
        <alpha_stall>1.0</alpha_stall>
        <cla_stall>-1.0</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <cp>0.0 1.5 0</cp>
        <area>3</area>
        <air_density>1.2041</air_density>
        <forward>-1 0 0</forward>
        <upward>0 0 1</upward>
        <link_name>elevator</link_name>
      </plugin>
      <plugin
        filename="ignition-gazebo-lift-drag-system"
        name="ignition::gazebo::systems::LiftDrag">
        <a0>0.02</a0>
        <cla>4.000</cla>
        <cda>0.001</cda>
        <cma>0.00</cma>
        <alpha_stall>1.0</alpha_stall>
        <cla_stall>-1.0</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <cp>0.0 -1.5 0</cp>
        <area>3</area>
        <air_density>1.2041</air_density>
        <forward>-1 0 0</forward>
        <upward>0 0 1</upward>
        <link_name>elevator</link_name>
      </plugin>
      <plugin
        filename="ignition-gazebo-lift-drag-system"
        name="ignition::gazebo::systems::LiftDrag">
        <!-- force turn -->
        <a0>0.00</a0>
        <cla>2.000</cla>
        <cda>0.001</cda>
        <cma>0.00</cma>
        <alpha_stall>1.0</alpha_stall>
        <cla_stall>-1.0</cla_stall>
        <cda_stall>0.0</cda_stall>
        <cma_stall>0.0</cma_stall>
        <cp>0.0 0 1</cp>
        <area>3</area>
        <air_density>1.2041</air_density>
        <forward>-1 0 0</forward>
        <upward>0 -1 0</upward>
        <link_name>rudder</link_name>
      </plugin>
      <plugin
        filename="ignition-gazebo-apply-joint-force-system"
        name="ignition::gazebo::systems::ApplyJointForce">
        <joint_name>rod_1_joint</joint_name>
      </plugin>
    </model>
  </world>
</sdf>
