From a9bcec2fa558bf7b3affa03aa822bea660969a26 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 15 Dec 2023 09:43:54 +0300
Subject: [PATCH] Main sdf cleanups, minor fix

---
 flix/control.ino            |  2 +-
 gazebo/models/flix/flix.sdf | 87 +------------------------------------
 2 files changed, 2 insertions(+), 87 deletions(-)

diff --git a/flix/control.ino b/flix/control.ino
index e233dd8..eb28656 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -104,7 +104,7 @@ void interpretRC()
 	}
 
 	if (yawMode == YAW_RATE || !motorsActive()) {
-		// update yaw target as we have not control over the yaw
+		// update yaw target as we don't have control over the yaw
 		attitudeTarget.setYaw(attitude.getYaw());
 	}
 }
diff --git a/gazebo/models/flix/flix.sdf b/gazebo/models/flix/flix.sdf
index 2c9f5b4..6037d4d 100644
--- a/gazebo/models/flix/flix.sdf
+++ b/gazebo/models/flix/flix.sdf
@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
 <sdf version="1.5">
 	<model name="flix">
-		<static>false</static>
 		<link name="body">
 			<inertial>
 				<mass>0.065</mass>
@@ -21,37 +20,8 @@
 			<visual name="body">
 				<geometry>
 					<mesh><uri>model://flix/flix.dae</uri></mesh>
-					<!-- <box>
-						<size>0.125711 0.125711 0.022</size>
-					</box> -->
-					<!-- led -->
 				</geometry>
 			</visual>
-			<!-- motors visual -->
-			<!-- <visual name="prop0">
-				<geometry>
-					<mesh><uri>model://flix/prop.dae</uri></mesh>
-				</geometry>
-				<pose relative_to="body">-0.035355 0.035355 0.011 0 0 0</pose>
-			</visual>
-			<visual name="prop1">
-				<geometry>
-					<mesh><uri>model://flix/prop.dae</uri></mesh>
-				</geometry>
-				<pose relative_to="body">-0.035355 -0.035355 0.011 0 0 1</pose>
-			</visual>
-			<visual name="prop2">
-				<geometry>
-					<mesh><uri>model://flix/prop.dae</uri></mesh>
-				</geometry>
-				<pose relative_to="body">0.035355 -0.035355 0.011 0 0 0</pose>
-			</visual>
-			<visual name="prop3">
-				<geometry>
-					<mesh><uri>model://flix/prop.dae</uri></mesh>
-				</geometry>
-				<pose relative_to="body">0.035355 0.035355 0.011 0 0 0</pose>
-			</visual> -->
 			<sensor name="imu" type="imu">
 				<always_on>1</always_on>
 				<visualize>1</visualize>
@@ -92,63 +62,8 @@
 						</z>
 					</linear_acceleration>
 				</imu>
-
 			</sensor>
 		</link>
-
-		<!-- <link name="imu_link">
-			<inertial>
-				<mass>0.001</mass>
-				<inertia>
-					<ixx>1e-05</ixx>
-					<ixy>0</ixy>
-					<ixz>0</ixz>
-					<iyy>1e-05</iyy>
-					<iyz>0</iyz>
-					<izz>1e-05</izz>
-				</inertia>
-			</inertial>
-			<sensor name="imu" type="imu">
-				<always_on>1</always_on>
-				<visualize>1</visualize>
-				<update_rate>50</update_rate>
-			</sensor>
-		</link>
-		<joint name="hokuyo_joint" type="fixed">
-			<child>imu_link</child>
-			<parent>body</parent>
-		</joint> -->
-
-		<!-- <link name="motor0"></link>
-		<link name="motor1"></link>
-		<link name="motor2"></link>
-		<link name="motor3"></link>
-
-		<joint name="motor0_joint" type="fixed">
-			<parent>body</parent>
-			<child>motor0</child>
-			<pose relative_to="body">-0.035355 0.035355 0 0 0 0</pose>
-		</joint>
-		<joint name="motor1_joint" type="fixed">
-			<parent>body</parent>
-			<child>motor1</child>
-			<pose relative_to="body">-0.035355 -0.035355 0 0 0 0</pose>
-		</joint>
-		<joint name="motor2_joint" type="fixed">
-			<parent>body</parent>
-			<child>motor2</child>
-			<pose relative_to="body">0.035355 -0.035355 0 0 0 0</pose>
-		</joint>
-		<joint name="motor3_joint" type="fixed">
-			<parent>body</parent>
-			<child>motor3</child>
-			<pose relative_to="body">0.035355 0.035355 0 0 0 0</pose>
-		</joint> -->
-
-		<plugin name="flix" filename="libflix.so">
-			<always_on>1</always_on>
-			<robotNamespace></robotNamespace>
-			<visualize>1</visualize>
-		</plugin>
+		<plugin name="flix" filename="libflix.so"/>
 	</model>
 </sdf>