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[ground_alt] add GetAltRef() to FW nav and update flight plans

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Gautier Hattenberger
2014-05-22 14:26:10 +02:00
parent d7c3584861
commit 1207be9736
35 changed files with 127 additions and 126 deletions
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conf/flight_plans/nav_modules.xml
+3 -3
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@@ -50,7 +50,7 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block group="home" key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="autopilot_flight_time"/>
<go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
@@ -82,7 +82,7 @@
<call fun="nav_bungee_takeoff_run()"/>
</block>
<block group="nav_pattern" name="Poly Survey" strip_button="Poly Survey">
<call fun="nav_survey_polygon_setup(WP_S1,5,80,30,10,50,ground_alt+60)"/>
<call fun="nav_survey_polygon_setup(WP_S1,5,80,30,10,50,GetAltRef()+60)"/>
<call fun="nav_survey_polygon_run()"/>
</block>
<block group="nav_pattern" name="Border line 1-2" strip_button="Border Line">
@@ -130,7 +130,7 @@
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">