autotest: make the Rascal a tail dragger again

good for testing wheeled takeoff

Tools/autotest/ArduPlane.parm

@@ -2,6 +2,7 @@ LOG_BITMASK	4095
 SWITCH_ENABLE   0
 MAG_ENABLE	0
 TRIM_ARSPD_CM   2200
+TRIM_PITCH_CD   -1000
 ARSPD_ENABLE    1
 ARSP2PTCH_I     0.1
 ARSPD_FBW_MAX   30

Tools/autotest/aircraft/Rascal/Rascal.xml

@@ -55,14 +55,14 @@
         <contact type="BOGEY" name="LEFT_MLG">
             <location unit="IN">
                 <x> 33.1 </x>
-                <y> -9.9 </y>
+                <y> -12.9 </y>
                 <z> -13.1 </z>
             </location>
-            <static_friction> 1.0 </static_friction>
-            <dynamic_friction> 0.8 </dynamic_friction>
-            <rolling_friction> 0.02 </rolling_friction>
+            <static_friction> 4.0 </static_friction>
+            <dynamic_friction> 1.8 </dynamic_friction>
+            <rolling_friction> 0.001 </rolling_friction>
             <spring_coeff unit="LBS/FT"> 12 </spring_coeff>
-            <damping_coeff unit="LBS/FT/SEC"> 1 </damping_coeff>
+            <damping_coeff unit="LBS/FT/SEC"> 3 </damping_coeff>
             <max_steer unit="DEG"> 0.0 </max_steer>
             <brake_group> NONE </brake_group>
             <retractable>0</retractable>
@@ -70,14 +70,14 @@
         <contact type="BOGEY" name="RIGHT_MLG">
             <location unit="IN">
                 <x> 33.1 </x>
-                <y> 9.9 </y>
+                <y> 12.9 </y>
                 <z> -13.1 </z>
             </location>
-            <static_friction> 1.0 </static_friction>
-            <dynamic_friction> 0.8 </dynamic_friction>
-            <rolling_friction> 0.02 </rolling_friction>
+            <static_friction> 4.0 </static_friction>
+            <dynamic_friction> 1.8 </dynamic_friction>
+            <rolling_friction> 0.001 </rolling_friction>
             <spring_coeff unit="LBS/FT"> 12 </spring_coeff>
-            <damping_coeff unit="LBS/FT/SEC"> 1 </damping_coeff>
+            <damping_coeff unit="LBS/FT/SEC"> 3 </damping_coeff>
             <max_steer unit="DEG"> 0.0 </max_steer>
             <brake_group> NONE </brake_group>
             <retractable>0</retractable>
@@ -91,13 +91,13 @@
 		     zero pitch, which makes for a better simulation
 		     of ground start on the accelerometers/gyros in
 		     ArduPlane -->
-                <z> -7.8 </z>
+                <z> -3 </z>
             </location>
-            <static_friction> 1.0 </static_friction>
-            <dynamic_friction> 0.8 </dynamic_friction>
-            <rolling_friction> 0.02 </rolling_friction>
+            <static_friction> 4.0 </static_friction>
+            <dynamic_friction> 1.8 </dynamic_friction>
+            <rolling_friction> 0.05 </rolling_friction>
             <spring_coeff unit="LBS/FT"> 12 </spring_coeff>
-            <damping_coeff unit="LBS/FT/SEC"> 1 </damping_coeff>
+            <damping_coeff unit="LBS/FT/SEC"> 3 </damping_coeff>
             <max_steer unit="DEG"> 360.0 </max_steer>
             <brake_group> NONE </brake_group>
             <retractable>0</retractable>

Tools/autotest/aircraft/Rascal/Rascal110-JSBSim.xml

@@ -86,7 +86,7 @@
             <location unit="IN">
                 <x> 68.9 </x>
                 <y> 0 </y>
-                <z> -6.6 </z>
+                <z> -3 </z>
             </location>
             <static_friction> 0.8 </static_friction>
             <dynamic_friction> 0.5 </dynamic_friction>

Tools/autotest/arduplane.py

@@ -9,7 +9,7 @@ testdir=os.path.dirname(os.path.realpath(__file__))
 
 
 HOME_LOCATION='-35.362938,149.165085,584,270'
-WIND="5,180,0.2" # speed,direction,variance
+WIND="0,180,0.2" # speed,direction,variance
 
 homeloc = None
 
@@ -19,19 +19,26 @@ def takeoff(mavproxy, mav):
     wait_mode(mav, 'FBWA')
 
     # some rudder to counteract the prop torque
-    mavproxy.send('rc 4 1650\n')
+    mavproxy.send('rc 4 1700\n')
+
+    # some up elevator to keep the tail down
+    mavproxy.send('rc 2 1200\n')
 
     # get it moving a bit first
-    mavproxy.send('rc 3 1100\n')
+    mavproxy.send('rc 3 1050\n')
     mav.recv_match(condition='VFR_HUD.groundspeed>2', blocking=True)
 
     # a bit faster
+    mavproxy.send('rc 3 1300\n')
+    mav.recv_match(condition='VFR_HUD.groundspeed>6', blocking=True)
+
+    # a bit faster again, straighten rudder
     mavproxy.send('rc 3 1600\n')
+    mavproxy.send('rc 4 1500\n')
     mav.recv_match(condition='VFR_HUD.groundspeed>12', blocking=True)
 
-    # hit the gas harder now, and give it some elevator
-    mavproxy.send('rc 4 1500\n')
-    mavproxy.send('rc 2 1200\n')
+    # hit the gas harder now, and give it some more elevator
+    mavproxy.send('rc 2 1100\n')
     mavproxy.send('rc 3 1800\n')
 
     # gain a bit of altitude