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[conf] add rotorcraft_basic_safety flightplan

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Even the default basic flightplan should have more safety features enabled in an effort to reduce risks.
It is not obvious however what increases or actually decreases safety:
e.g. killing a quad at the wrong location might prevent fly-away but might also create even higher risks.
This commit is contained in:
Christophe De Wagter
2013-09-26 09:36:13 +02:00
committed by Felix Ruess
parent 0a13cfeec8
commit 1a0ae29e51
1 changed files with 108 additions and 0 deletions
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conf/flight_plans/rotorcraft_basic_safety.xml
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan alt="152" ground_alt="147" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="400" name="Booz Test Enac" security_height="2">
<header>
#include "autopilot.h"
</header>
<waypoints>
<waypoint name="HOME" x="0.0" y="0.0"/>
<waypoint name="CLIMB" x="0.0" y="5.0"/>
<waypoint name="STDBY" x="-2.0" y="-5.0"/>
<waypoint name="p1" x="3.6" y="-13.9"/>
<waypoint name="p2" x="27.5" y="-48.2"/>
<waypoint name="p3" x="16.7" y="-19.6"/>
<waypoint name="p4" x="13.7" y="-40.7"/>
<waypoint name="FLY1" x="200" y="200"/>
<waypoint name="FLY2" x="200" y="-200"/>
<waypoint name="FLY3" x="-200" y="-200"/>
<waypoint name="FLY4" x="-200" y="200"/>
<waypoint name="KILL1" x="280" y="280"/>
<waypoint name="KILL2" x="280" y="-280"/>
<waypoint name="KILL3" x="-280" y="-280"/>
<waypoint name="KILL4" x="-280" y="280"/>
<waypoint name="CAM" x="-20" y="-50" height="2."/>
<waypoint name="TD" x="5.6" y="-10.9"/>
</waypoints>
<sectors>
<sector color="orange" name="Flight_Area">
<corner name="FLY1"/>
<corner name="FLY2"/>
<corner name="FLY3"/>
<corner name="FLY4"/>
</sector>
<sector color="red" name="Kill">
<corner name="KILL1"/>
<corner name="KILL2"/>
<corner name="KILL3"/>
<corner name="KILL4"/>
</sector>
</sectors>
<exceptions>
<!-- Check inside Flight Area, then goto Standby -->
<exception cond="Or(!InsideFlight_Area(GetPosX(), GetPosY()), GetPosAlt() > ground_alt + 50) && !(nav_block == IndexOfBlock('Wait GPS')) && !(nav_block == IndexOfBlock('Geo init')) && !(nav_block == IndexOfBlock('Holding point')) && !(nav_block == IndexOfBlock('landed')) && !(nav_block == IndexOfBlock('Standby'))" deroute="Standby"/>
</exceptions>
<blocks>
<block name="Wait GPS">
<call fun="NavKillThrottle()"/>
<while cond="!GpsFixValid()"/>
</block>
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 10)"/>
<call fun="NavSetGroundReferenceHere()"/>
<!--<call fun="NavSetAltitudeReferenceHere()"/>-->
</block>
<block name="Holding point">
<call fun="NavKillThrottle()"/>
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
</block>
<block name="Start Engine">
<call fun="NavResurrect()"/>
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
</block>
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
<stay vmode="climb" climb="0.5" wp="CLIMB"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png" pre_call="if(!InsideKill(GetPosX(), GetPosY())) NavKillThrottle();">
<stay wp="STDBY"/>
</block>
<block name="stay_p1">
<stay wp="p1"/>
</block>
<block name="go_p2">
<go wp="p2"/>
<deroute block="stay_p1"/>
</block>
<block name="line_p1_p2">
<go from="p1" hmode="route" wp="p2"/>
<stay wp="p2" until="stage_time>10"/>
<go from="p2" hmode="route" wp="p1"/>
<deroute block="stay_p1"/>
</block>
<block name="route">
<go from="p1" hmode="route" wp="p3"/>
<go from="p3" hmode="route" wp="p4"/>
<go from="p4" hmode="route" wp="p1"/>
<deroute block="stay_p1"/>
</block>
<block name="circle">
<circle radius="nav_radius" wp="p1"/>
</block>
<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
<call fun="NavSetWaypointHere(WP_TD)"/>
</block>
<block name="land">
<go wp="TD"/>
</block>
<block name="flare">
<exception cond="NavDetectGround()" deroute="Holding point"/>
<exception cond="!nav_is_in_flight()" deroute="landed"/>
<call fun="NavStartDetectGround()"/>
<stay climb="-0.8" vmode="climb" wp="TD"/>
</block>
<block name="landed">
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
</block>
</blocks>
</flight_plan>