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[flightplan] IMAV

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This commit is contained in:
Christophe De Wagter
2015-09-16 18:37:52 +02:00
parent a21c7d73f8
commit 1e9739c02d
3 changed files with 24 additions and 13 deletions
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conf/flight_plans/Tudelft/rotorcraft_survey_competition.xml
+6 -6
View File
@@ -11,11 +11,11 @@
<waypoint lat="50.790483" lon="6.047899" name="raceA"/>
<waypoint lat="50.791800" lon="6.050200" name="raceB"/>
<waypoint lat="50.789794" lon="6.047431" name="WG"/>
<waypoint lat="50.7889307058111" lon="6.04677769236132" name="WD"/>
<waypoint lat="50.788775526101" lon="6.04652336854142" name="DROP"/>
<waypoint lat="50.788775526101" lon="6.04652336854142" name="RZ1"/>
<waypoint lat="50.7889170568219" lon="6.04640018582595" name="RZ2"/>
<waypoint lat="50.7889755961272" lon="6.04642327267965" name="RZ3"/>
<waypoint lat="50.7889307058111" lon="6.04677769236132" name="WD" height="15"/>
<waypoint lat="50.788775526101" lon="6.04652336854142" name="DROP" height="15"/>
<waypoint lat="50.788775526101" lon="6.04652336854142" name="RZ1" height="15"/>
<waypoint lat="50.7889170568219" lon="6.04640018582595" name="RZ2" height="15"/>
<waypoint lat="50.7889755961272" lon="6.04642327267965" name="RZ3" height="15"/>
<waypoint lat="50.789522" lon="6.047118" name="FC"/>
<waypoint lat="50.788597" lon="6.046721" name="S1"/>
<waypoint lat="50.788973" lon="6.045944" name="S2"/>
@@ -27,7 +27,7 @@
<waypoint lat="50.791818" lon="6.050201" name="p4"/>
<waypoint name="CAM" x="27.5" y="95.0"/>
<waypoint name="CRUISE" x="19.2" y="-55.4" height="25"/>
<waypoint lat="50.7887171157922" lon="6.04695109268497" name="TD"/>
<waypoint lat="50.7887171157922" lon="6.04695109268497" name="TD" height="15"/>
<waypoint lat="50.790144" lon="6.046879" name="_green1A"/>
<waypoint lat="50.789748" lon="6.047844" name="_green1B"/>
<waypoint lat="50.789058" lon="6.047072" name="_green1C"/>
conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml
+17 -6
View File
@@ -5,7 +5,7 @@
<header>
#include "autopilot.h"
#include "subsystems/electrical.h"
#ifdef DC_AUTOSHOOT_SURVEY_INTERVAL
#ifdef dc_Survey
#define LINE_START_FUNCTION dc_Survey(dc_distance_interval);
#define LINE_STOP_FUNCTION {dc_autoshoot = DC_AUTOSHOOT_STOP;}
#endif
@@ -36,12 +36,22 @@
</block>
<!-- START -->
<block name="Start Engine" strip_button="Start Engine" strip_icon="resurrect.png" group="takeoff">
<block name="Start Engine" strip_button="Start Engine" strip_icon="resurrect.png" group="engine">
<call fun="NavResurrect()"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png" group="takeoff">
<exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
<block name="Takeoff-Standby" strip_button="Takeoff-Drop" strip_icon="takeoff.png" group="takeoff">
<exception cond="stateGetPositionEnu_f()->z > 10.0" deroute="drop"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
</block>
<block name="Takeoff-Map" strip_button="Takeoff-Map" strip_icon="survey.png" group="takeoff">
<exception cond="stateGetPositionEnu_f()->z > 10.0" deroute="SurveyPoly"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
</block>
<block name="Takeoff-Drop" strip_button="Takeoff-Drop" strip_icon="parachute.png" group="takeoff">
<exception cond="stateGetPositionEnu_f()->z > 10.0" deroute="drop"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
</block>
@@ -122,6 +132,7 @@
</block>
<!-- SURVEYS -->
<!--
<block group="survey" name="Survey S1-S2 NS" strip_button="Survey-NS-S1-S2" strip_icon="survey.png">
<call fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S2, sweep, NS)"/>
<deroute block="Survey RECTANGLE RUN"/>
@@ -134,8 +145,8 @@
<exception cond="rectangle_survey_sweep_num >= 1" deroute="Standby"/>
<call fun="nav_survey_rectangle_rotorcraft_run(WP_S1, WP_S2)"/>
</block>
<block group="survey" name="Survey Poly" strip_button="Survey-Polygon-S1-S2-S3-S4" strip_icon="googleearth.png">
-->
<block group="survey" name="SurveyPoly" strip_button="Survey-Polygon-S1-S2-S3-S4" strip_icon="googleearth.png">
<call fun="nav_survey_poly_setup_towards(WP_S1, 4, sweep, WP_S2)"/>
<deroute block="Survey Poly RUN"/>
</block>
conf/flight_plans/rotorcraft_survey.xml
+1 -1
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@@ -3,7 +3,7 @@
<flight_plan alt="152" ground_alt="147" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="150" name="Rotorcraft Basic (Enac)" security_height="2">
<header>
#include "autopilot.h"
#ifdef DC_AUTOSHOOT_STOP
#ifdef dc_Survey
#define LINE_START_FUNCTION dc_Survey(dc_distance_interval);
#define LINE_STOP_FUNCTION {dc_autoshoot = DC_AUTOSHOOT_STOP;}
#endif