I have configured the xml file quadrotor for nano size but sometingis off

QGroundControl Development
1

I am creating the quadrotor nano flight for jsbsim. I have configured model xml file by follow. When trigger take off it started acting weird. Should I need to consider anything else or did i made a mistake in calculation ..

<?xml version="1.0"?> <?xml-stylesheet type="text/xsl" href=" http://jsbsim.sourceforge.net/JSBSim.xsl "?>

<fdm_config xmlns:xsi=“http://www.w3.org/2001/XMLSchema-instance” name=“quad_nano” version=“2.0”

release=“ALPHA” xsi:noNamespaceSchemaLocation=“http://jsbsim.sourceforge.net/JSBSim.xsd”>

<author>Akila</author>

<filecreationdate>2026-05-07</filecreationdate>

<version>1.0</version>

<description>Quad Nano based directly on working dflyer</description>

<wingarea unit="M2">0.005</wingarea>

<wingspan unit="M">0.08</wingspan>

<chord unit="M">0.08</chord>

<htailarea unit="FT2">0.0</htailarea>

<htailarm unit="FT">0.0</htailarm>

<vtailarea unit="FT2">0.0</vtailarea>

<vtailarm unit="FT">0.0</vtailarm>

<location name="AERORP" unit="M">

  <x>0.0</x>

  <y>0.0</y>

  <z>0.0</z>

</location>

<location name="EYEPOINT" unit="M">

  <x>0.0</x>

  <y>0.0</y>

  <z>0.0</z>

</location>

<location name="VRP" unit="M">

  <x>0.0</x>

  <y>0.0</y>

  <z>0.0</z>

</location>

<mass_balance>

<ixx unit="KG\*M2">0.00045</ixx>

<iyy unit="KG\*M2">0.00045</iyy>

<izz unit="KG\*M2">0.00080</izz>

<emptywt unit="KG">0.040</emptywt>

</mass_balance>

<ground_reactions>

<contact type="STRUCTURE" name="front_left_base">

  <location unit="M">

    <x>0.03</x>

    <y>0.03</y>

    <z>-0.01</z>

  </location>

  <static_friction>20</static_friction>

  <dynamic_friction>6</dynamic_friction>

  <spring_coeff unit="N/M">20</spring_coeff>

  <damping_coeff unit="N/M/SEC">6</damping_coeff>

</contact>

<contact type=“STRUCTURE”

  name="front_right_base">

  <location unit="M">

    <x>0.03</x>

    <y>-0.03</y>

    <z>-0.01</z>

  </location>

  <static_friction>20</static_friction>

  <dynamic_friction>6</dynamic_friction>

  <spring_coeff unit="N/M">20</spring_coeff>

  <damping_coeff unit="N/M/SEC">6</damping_coeff>

</contact>

<contact type=“STRUCTURE”

  name="rear_left_base">

  <location unit="M">

    <x>-0.03</x>

    <y>0.03</y>

    <z>-0.01</z>

  </location>

  <static_friction>20</static_friction>

  <dynamic_friction>6</dynamic_friction>

  <spring_coeff unit="N/M">20</spring_coeff>

  <damping_coeff unit="N/M/SEC">6</damping_coeff>

</contact>

<contact type=“STRUCTURE”

  name="rear_right_base">

  <location unit="M">

    <x>-0.03</x>

    <y>-0.03</y>

    <z>-0.01</z>

  </location>

  <static_friction>20</static_friction>

  <dynamic_friction>6</dynamic_friction>

  <spring_coeff unit="N/M">20</spring_coeff>

  <damping_coeff unit="N/M/SEC">6</damping_coeff>

</contact>

</ground_reactions>

<property value="0.0">fcs/esc-cmd-norm\[0\]</property>

<property value="0.0">fcs/esc-cmd-norm\[1\]</property>

<property value="0.0">fcs/esc-cmd-norm\[2\]</property>

<property value="0.0">fcs/esc-cmd-norm\[3\]</property>



<channel name="Motor_0">

  <actuator name="fcs/etc/esc_0">

    <input>fcs/esc-cmd-norm\[0\]</input>

    <clipto>

      <min>0.0</min>

      <max>1.0</max>

    </clipto>

    <output>fcs/esc-out\[0\]</output>

  </actuator>

</channel>

<channel name="Motor_1">

  <actuator name="fcs/etc/esc_1">

    <input>fcs/esc-cmd-norm\[1\]</input>

    <clipto>

      <min>0.0</min>

      <max>1.0</max>

    </clipto>

    <output>fcs/esc-out\[1\]</output>

  </actuator>

</channel>

<channel name="Motor_2">

  <actuator name="fcs/etc/esc_2">

    <input>fcs/esc-cmd-norm\[2\]</input>

    <clipto>

      <min>0.0</min>

      <max>1.0</max>

    </clipto>

    <output>fcs/esc-out\[2\]</output>

  </actuator>

</channel>

<channel name="Motor_3">

  <actuator name="fcs/etc/esc_3">

    <input>fcs/esc-cmd-norm\[3\]</input>

    <clipto>

      <min>0.0</min>

      <max>1.0</max>

    </clipto>

    <output>fcs/esc-out\[3\]</output>

  </actuator>

</channel>

<property value="0.0">fcs/torque_bypass</property>

<property value="0.0">fcs/motor_torque\[0\]</property>

<channel name="Motor_0_Torque">

  <fcs_function>

    <function>

      <product>

        <table>

          <independentVar>fcs/esc-out\[0\]</independentVar>

          <tableData>

            0.0   0.0

            0.25  0.01

            0.5   0.02

            0.75  0.03

            1.0   0.04

          </tableData>

        </table>

        <value>1</value>

      </product>

    </function>

    <output>fcs/motor_torque\[0\]</output>

  </fcs_function>

</channel>



<property value="0.0">fcs/motor_torque\[1\]</property>

<channel name="Motor_1_Torque">

  <fcs_function>

    <function>

      <product>

        <table>

          <independentVar>fcs/esc-out\[1\]</independentVar>

          <tableData>

            0.0   0.0

            0.25  0.01

            0.5   0.02

            0.75  0.03

            1.0   0.04

          </tableData>

        </table>

        <value>1</value>

      </product>

    </function>

    <output>fcs/motor_torque\[1\]</output>

  </fcs_function>

</channel>



<property value="0.0">fcs/motor_torque\[2\]</property>

<channel name="Motor_2_Torque">

  <fcs_function>

    <function>

      <product>

        <table>

          <independentVar>fcs/esc-out\[2\]</independentVar>

          <tableData>

            0.0   0.0

            0.25  0.01

            0.5   0.02

            0.75  0.03

            1.0   0.04

          </tableData>

        </table>

        <value>-1</value>

      </product>

    </function>

    <output>fcs/motor_torque\[2\]</output>

  </fcs_function>

</channel>



<property value="0.0">fcs/motor_torque\[3\]</property>

<channel name="Motor_3_Torque">

  <fcs_function>

    <function>

      <product>

        <table>

          <independentVar>fcs/esc-out\[3\]</independentVar>

          <tableData>

            0.0   0.0

            0.25  0.01

            0.5   0.02

            0.75  0.03

            1.0   0.04

          </tableData>

        </table>

        <value>-1</value>

      </product>

    </function>

    <output>fcs/motor_torque\[3\]</output>

  </fcs_function>

</channel>



<property value="0.0">fcs/net_torque</property>

<channel name="Motor_Net_Torque">

  <fcs_function>

    <function>

      <sum>

        <property>fcs/motor_torque\[0\]</property>

        <property>fcs/motor_torque\[1\]</property>

        <property>fcs/motor_torque\[2\]</property>

        <property>fcs/motor_torque\[3\]</property>

      </sum>

    </function>

    <output>fcs/net_torque</output>

  </fcs_function>

</channel>

<external_reactions>

<property value="0.0">fcs/esc-out\[0\]</property>

<property value="0.0">fcs/esc-out\[1\]</property>

<property value="0.0">fcs/esc-out\[2\]</property>

<property

  value="0.0">fcs/esc-out\[3\]</property>



<property value="0.0">fcs/lift_bypass\[0\]</property>

<property value="0.0">fcs/lift_bypass\[1\]</property>

<property

  value="0.0">fcs/lift_bypass\[2\]</property>

<property value="0.0">fcs/lift_bypass\[3\]</property>



<property value="1.0">fcs/motor_health\[0\]</property>



<force

  name="MOTOR_0_LIFT" frame="BODY">

  <function>

    <sum>

      <product>

        <table>

          <independentVar>fcs/esc-out\[0\]</independentVar>

          <tableData>

            0.0   0.0

            0.25  0.04

            0.5   0.08

            0.75  0.12

            1.0   0.18

          </tableData>

        </table>

        <value>1</value>

        <property>fcs/motor_health\[0\]</property>

      </product>

      <property>fcs/lift_bypass\[0\]</property>

    </sum>

  </function>

  <location unit="M">

    <x>0.03</x>

    <y>0.03</y>

    <z>0.0</z>

  </location>

  <direction>

    <x>0.0</x>

    <y>0.0</y>

    <z>-1.0</z>

  </direction>

  <output>aero/motor_lift\[0\]</output>



</force>



<force name="MOTOR_1_LIFT" frame="BODY">

  <function>

    <sum>

      <product>

        <table>

          <independentVar>fcs/esc-out\[1\]</independentVar>

          <tableData>

            0.0   0.0

            0.25  0.04

            0.5   0.08

            0.75  0.12

            1.0   0.18

          </tableData>

        </table>

        <value>1</value>

      </product>

      <property>fcs/lift_bypass\[1\]</property>

    </sum>

  </function>

  <location unit="M">

    <x>-0.03</x>

    <y>-0.03</y>

    <z>0.0</z>

  </location>

  <direction>

    <x>0.0</x>

    <y>0.0</y>

    <z>-1.0</z>

  </direction>

  <output>aero/motor_lift\[1\]</output>



</force>



<force name="MOTOR_2_LIFT" frame="BODY">

  <function>

    <sum>

      <product>

        <table>

          <independentVar>fcs/esc-out\[2\]</independentVar>

          <tableData>

            0.0   0.0

            0.25  0.04

            0.5   0.08

            0.75  0.12

            1.0   0.18

          </tableData>

        </table>

        <value>1</value>

      </product>

      <property>fcs/lift_bypass\[2\]</property>

    </sum>

  </function>

  <location unit="M">

    <x>0.03</x>

    <y>-0.03</y>

    <z>0.0</z>

  </location>

  <direction>

    <x>0.0</x>

    <y>0.0</y>

    <z>-1.0</z>

  </direction>

  <output>aero/motor_lift\[2\]</output>



</force>



<force name="MOTOR_3_LIFT" frame="BODY">

  <function>

    <sum>

      <product>

        <table>

          <independentVar>fcs/esc-out\[3\]</independentVar>

          <tableData>

            0.0   0.0

            0.25  0.04

            0.5   0.08

            0.75  0.12

            1.0   0.18

          </tableData>

        </table>

        <value>1</value>

      </product>

      <property>fcs/lift_bypass\[3\]</property>

    </sum>

  </function>

  <location unit="M">

    <x>-0.03</x>

    <y>0.03</y>

    <z>0.0</z>

  </location>

  <direction>

    <x>0.0</x>

    <y>0.0</y>

    <z>-1.0</z>

  </direction>

  <output>aero/motor_lift\[3\]</output>

</force>

</external_reactions>

<axis name="DRAG">

  <function name="aero/force/drag">

    <product>

      <property>aero/qbar-psf</property>

      <property>metrics/Sw-sqft</property>

      <value>1.0</value>

    </product>

  </function>

</axis>



<axis name="ROLL" />

<axis name="PITCH" />



<axis name="YAW">

  <function name="aero/moment/yaw">

    <property>fcs/net_torque</property>

  </function>

</axis>

</fdm_config>