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[conf] Bart

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dewagter
2014-12-02 11:48:34 +01:00
parent d3076cf830
commit 206a48efb9
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conf/airframes/BR/DreamCacher_bart.xml
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<!-- this is a LadyBird quadrotor frame equiped with Lisa/S 1.0 -->
<!-- The LadyBird frame comes with four brushed motors in an X configuration. -->
<!--
The motor and rotor configuration is the following:
Front
^
|
Motor3(NW) Motor0(NE)
CW CCW
\ /
,___,
| |
| |
|___|
/ \
CCW CW
Motor2(SW) Motor1(SE)
The Lisa/S is rotated by 13deg CCW against the frame.
-->
<!--
Applicable configuration:
airframe="airframes/examples/ladybird_lisa_s.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
-->
<airframe name="quadrotor_lisa_s">
<servos driver="Pwm">
<servo name="NE" no="0" min="0" neutral="50" max="1000"/>
<servo name="SE" no="1" min="0" neutral="50" max="1000"/>
<servo name="SW" no="2" min="0" neutral="50" max="1000"/>
<servo name="NW" no="3" min="0" neutral="50" max="1000"/>
</servos>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="NE" value="motor_mixing.commands[0]"/>
<set servo="SE" value="motor_mixing.commands[1]"/>
<set servo="SW" value="motor_mixing.commands[2]"/>
<set servo="NW" value="motor_mixing.commands[3]"/>
</command_laws>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, -256, 256 }"/>
<define name="YAW_COEF" value="{ 256, -256, 256, -256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="-13." unit="deg"/>
<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<!-- MAGNETO CALIBRATION ANTWERP -->
<define name="MAG_X_NEUTRAL" value="-272"/>
<define name="MAG_Y_NEUTRAL" value="-1048"/>
<define name="MAG_Z_NEUTRAL" value="-196"/>
<define name="MAG_X_SENS" value="3.71896242867" integer="16"/>
<define name="MAG_Y_SENS" value="4.08168121098" integer="16"/>
<define name="MAG_Z_SENS" value="3.93086401526" integer="16"/>
<!-- MAGNETO CURRENT CALIBRATION -->
<define name= "MAG_X_CURRENT_COEF" value="-0.0176704713698"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.0174222594634"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.0187570316492"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="3.3" unit="V"/>
<define name="LOW_BAT_LEVEL" value="3.4" unit="V"/>
<define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="15000"/>
<define name="SP_MAX_Q" value="15000"/>
<define name="SP_MAX_R" value="15000"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="418"/>
<define name="IGAIN_P" value="301"/>
<define name="IGAIN_Q" value="302"/>
<define name="IGAIN_R" value="303"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_PSI" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="SP_MAX_P" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="90." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value=" 300"/>
<define name="PHI_AGAIN" value="0"/>
<define name="THETA_AGAIN" value="0"/>
<define name="PSI_AGAIN" value="0"/>
</section>
<section name="INS" prefix="INS_">
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="276"/>
<define name="HOVER_KD" value="455"/>
<define name="HOVER_KI" value="100"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="AHRS" prefix="AHRS_">
<!-- Delft magnetic field -->
<define name="H_X" value="0.39049610"/>
<define name="H_Y" value="0.00278894"/>
<define name="H_Z" value="0.92060036"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="90"/>
<define name="DGAIN" value="50"/>
<define name="IGAIN" value="24"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_x_quad_ccw&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>
<load name="send_imu_mag_current.xml"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="superbitrf_rc">
<define name="RADIO_MODE" value="RADIO_GEAR"/>
<!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>-->
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</subsystem>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
-->
<!-- Setting the PWM timer base frequency to 36MHz -->
<define name="PWM_BASE_FREQ" value="36000000"/>
<!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/>
<define name="USE_SERVOS_1AND2"/>
</subsystem>
<!--<subsystem name="telemetry" type="superbitrf"/>-->
<!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. -->
<subsystem name="telemetry" type="superbitrf"/>
<subsystem name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="1"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/>
</subsystem>
<subsystem name="ins"/>
</firmware>
</airframe>
conf/airframes/BR/conf.xml
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<conf>
<aircraft
name="DreamCatcher"
ac_id="230"
airframe="airframes/BR/DreamCacher_bart.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/ladylisa_from_hand.xml"
settings=" settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/superbitrf.xml"
gui_color="white"
/>
<aircraft
name="LadyLisaBart"
ac_id="231"
airframe="airframes/BR/ladybird_kit_bart.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/ladylisa_from_hand.xml"
settings=" settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_rate.xml settings/superbitrf.xml"
gui_color="blue"
/>
</conf>
conf/airframes/BR/ladybird_kit_bart.xml
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<!-- this is a LadyBird quadrotor frame equiped with Lisa/S 1.0 -->
<!-- The LadyBird frame comes with four brushed motors in an X configuration. -->
<!--
The motor and rotor configuration is the following:
Front
^
|
Motor3(NW) Motor0(NE)
CW CCW
\ /
,___,
| |
| |
|___|
/ \
CCW CW
Motor2(SW) Motor1(SE)
The Lisa/S is rotated by 13deg CCW against the frame.
-->
<!--
Applicable configuration:
airframe="airframes/examples/ladybird_lisa_s.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/control/stabilization_rate.xml"
-->
<airframe name="quadrotor_lisa_s">
<servos driver="Pwm">
<servo name="NE" no="0" min="0" neutral="50" max="1000"/>
<servo name="SE" no="1" min="0" neutral="50" max="1000"/>
<servo name="SW" no="2" min="0" neutral="50" max="1000"/>
<servo name="NW" no="3" min="0" neutral="50" max="1000"/>
</servos>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="NE" value="motor_mixing.commands[0]"/>
<set servo="SE" value="motor_mixing.commands[1]"/>
<set servo="SW" value="motor_mixing.commands[2]"/>
<set servo="NW" value="motor_mixing.commands[3]"/>
</command_laws>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, -256, 256 }"/>
<define name="YAW_COEF" value="{ 256, -256, 256, -256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="-13." unit="deg"/>
<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<!-- MAGNETO CALIBRATION ANTWERPEN
<define name="MAG_X_NEUTRAL" value="-147"/>
<define name="MAG_Y_NEUTRAL" value="152"/>
<define name="MAG_Z_NEUTRAL" value="-5"/>
<define name="MAG_X_SENS" value="3.56142779007" integer="16"/>
<define name="MAG_Y_SENS" value="3.82223743533" integer="16"/>
<define name="MAG_Z_SENS" value="4.15618897164" integer="16"/> -->
<!-- MAGNETO CALIBRATION DELFT-->
<define name="MAG_X_NEUTRAL" value="10"/>
<define name="MAG_Y_NEUTRAL" value="238"/>
<define name="MAG_Z_NEUTRAL" value="-74"/>
<define name="MAG_X_SENS" value="3.67001348283" integer="16"/>
<define name="MAG_Y_SENS" value="3.98840260231" integer="16"/>
<define name="MAG_Z_SENS" value="4.32568461736" integer="16"/>
<!-- MAGNETO CURRENT CALIBRATION -->
<define name= "MAG_X_CURRENT_COEF" value="-0.0176704713698"/>
<define name= "MAG_Y_CURRENT_COEF" value="0.0174222594634"/>
<define name= "MAG_Z_CURRENT_COEF" value="0.0187570316492"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
</section>
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="14000"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="2.8" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="3.0" unit="V"/>
<define name="LOW_BAT_LEVEL" value="3.2" unit="V"/>
<define name="MAX_BAT_LEVEL" value="4.1" unit="V"/>
</section>
<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
<define name="SP_MAX_P" value="15000"/>
<define name="SP_MAX_Q" value="15000"/>
<define name="SP_MAX_R" value="15000"/>
<define name="GAIN_P" value="400"/>
<define name="GAIN_Q" value="400"/>
<define name="GAIN_R" value="418"/>
<define name="IGAIN_P" value="301"/>
<define name="IGAIN_Q" value="302"/>
<define name="IGAIN_R" value="303"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_PSI" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="SP_MAX_P" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<define name="DEADBAND_A" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="90." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="400"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="100"/>
<define name="THETA_PGAIN" value="400"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="100"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="0"/>
<define name="THETA_DDGAIN" value="0"/>
<define name="PSI_DDGAIN" value=" 300"/>
<define name="PHI_AGAIN" value="0"/>
<define name="THETA_AGAIN" value="0"/>
<define name="PSI_AGAIN" value="0"/>
</section>
<section name="INS" prefix="INS_">
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="276"/>
<define name="HOVER_KD" value="455"/>
<define name="HOVER_KI" value="100"/>
<define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="AHRS" prefix="AHRS_">
<!-- Delft magnetic field -->
<define name="H_X" value="0.39049610"/>
<define name="H_Y" value="0.00278894"/>
<define name="H_Z" value="0.92060036"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="PGAIN" value="90"/>
<define name="DGAIN" value="50"/>
<define name="IGAIN" value="24"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="{&quot;ne_motor&quot;, &quot;se_motor&quot;, &quot;sw_motor&quot;, &quot;nw_motor&quot;}"/>
<define name="JSBSIM_INIT" value="&quot;reset00&quot;"/>
<define name="JSBSIM_MODEL" value="&quot;simple_x_quad_ccw&quot;"/>
<define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
</section>
<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>
<load name="send_imu_mag_current.xml"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="lisa_s_1.0">
<subsystem name="radio_control" type="superbitrf_rc">
<define name="RADIO_MODE" value="RADIO_GEAR"/>
<!--<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>-->
<define name="USE_PERSISTENT_SETTINGS" value="TRUE"/>
</subsystem>
<configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<!-- This airframe is using the servo PWM outputs directly to drive mosfets, which in turn directly drive brushed motors.
With the following settings we will be driving the motors with a 36KHz signal that should be well above anyone's hearing range.
If we went with the 500Hz that woul be the default we would be hearing a very annoying high pitched sound coming from the motors.
-->
<!-- Setting the PWM timer base frequency to 36MHz -->
<define name="PWM_BASE_FREQ" value="36000000"/>
<!-- Setting the PWM interval to 36KHz -->
<define name="SERVO_HZ" value="36000"/>
<define name="USE_SERVOS_1AND2"/>
</subsystem>
<!--<subsystem name="telemetry" type="superbitrf"/>-->
<!-- Comment the previous line and uncomment the following one if you need
to use the debug serial interface for telemetry. -->
<subsystem name="telemetry" type="superbitrf"/>
<subsystem name="imu" type="lisa_s_v1.0">
<define name="LISA_S_UPSIDE_DOWN"/> <!-- Upside down is a relative term. :) -->
</subsystem>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="1"/>
<define name="AHRS_USE_GPS_HEADING" value="0"/>
</subsystem>
<subsystem name="ins"/>
</firmware>
</airframe>
conf/flight_plans/ladylisa_from_hand.xml
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<!--
The goal of this flightplan is to have a safe, simple no-brainer flightplan for a ladylisa.
-->
<flight_plan alt="10" ground_alt="0" lat0="51.991231" lon0="4.378035" max_dist_from_home="60" name="Fromhand" security_height="5">
<header>
#include "autopilot.h"
#include "subsystems/ahrs.h"
#include "subsystems/electrical.h"
#include "subsystems/datalink/datalink.h"
</header>
<waypoints>
<waypoint name="HOME" x="0.0" y="0.0"/>
<waypoint name="_CLIMB" x="0.0" y="5.0"/>
<waypoint name="Landingspot" x="5.0" y="5.0"/>
<waypoint name="_TDEMERGENCY" x="-5.0" y="-5.0"/>
<waypoint name="A" x="1" y="1"/>
<waypoint name="B" x="1" y="3"/>
</waypoints>
<exceptions>
<!-- Check if battery voltage is low, then try to go to block Land. This is deemed better than to land at that very spot since that can be above something unknown,
is less safe and has less chance of AC recovery. It states battery LOW, not battery critical -->
<exception cond="electrical.bat_low && !(nav_block == IndexOfBlock('Setting home location')) && !(nav_block == IndexOfBlock('Holding point')) && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Emergency'))" deroute="Land"/>
<exception cond="electrical.bat_critical && !(nav_block == IndexOfBlock('Setting home location')) && !(nav_block == IndexOfBlock('Holding point')) && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Emergency'))" deroute="Emergency"/>
<!-- No connection for some time in flight, then try to land
<exception cond="autopilot_in_flight && datalink_time > 6 && !(nav_block == IndexOfBlock('Setting home location')) && !(nav_block == IndexOfBlock('Holding point')) && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Emergency'))" deroute="Land"/>
-->
<!-- If somehow the AC isVALUEVALUE higher than initial ground position plus 60m, just land -->
<!--tofix only in flight <exception cond="GetPosAlt() > (ground_alt + 60)" deroute="Land"/> -->
<!-- No link for 20 seconds and no GPS valid position fix, but the AC can still hover...however no option to give commands, emergency landing -->
<!-- <exception cond="And(datalink_time > 20, !GpsFixValid()) && !(nav_block == IndexOfBlock('Setting home location')) && !(nav_block == IndexOfBlock('Holding point')) && !(nav_block == IndexOfBlock('Emergency'))" deroute="Emergency"/>-->
<!-- Check if outside a safety circle from where the drone started the climb, if outside come back to where climb was started-->
<exception cond="(((((WaypointX(WP__CLIMB)) - GetPosX())*((WaypointX(WP__CLIMB)) - GetPosX()))) + ((((WaypointY(WP__CLIMB)) - GetPosY())*((WaypointY(WP__CLIMB)) - GetPosY())))) > (MAX_DIST_FROM_HOME*MAX_DIST_FROM_HOME) && !(nav_block == IndexOfBlock('Setting home location')) && !(nav_block == IndexOfBlock('Holding point')) && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Emergency'))" deroute="Land"/>
</exceptions>
<blocks>
<block name="Setting home location">
<call fun="NavKillThrottle()"/>
<!-- if no valid fix or GPS accuracy > 4m or no AHRS , it a no-go, just wait-->
<while cond="!GpsFixValid() || gps.pacc > 400 || !(ahrs.status == AHRS_RUNNING)"/>
<!-- Additional wait to allow for better GPS data -->
<while cond="LessThan(NavBlockTime(), 8)"/>
<call fun="NavSetGroundReferenceHere()"/>
<!-- Set here, while setting theoretically GPS position can still jump, thus set in least needed precision order -->
<call fun="NavSetAltitudeReferenceHere()"/>
<call fun="NavSetWaypointHere(WP__TDEMERGENCY)"/>
<call fun="NavSetWaypointHere(WP_Landingspot)"/>
<call fun="NavSetWaypointHere(WP_HOME)"/>
<call fun="NavSetWaypointHere(WP__CLIMB)"/>
<call fun="NavSetWaypointHere(WP_A)"/>
</block>
<block key="a" name="Arming">
<!-- To make sure that even if aircraft was moved by e.g. walking with it to a different spot, the takeoff and landing position are still on that spot, home is allowed to be somewhere else. -->
<call fun="NavSetAltitudeReferenceHere()"/>
<call fun="NavSetWaypointHere(WP__CLIMB)"/>
<call fun="NavSetWaypointHere(WP_A)"/>
<call fun="NavSetWaypointHere(WP_Landingspot)"/>
<set var="waypoints[WP_Landingspot].z" value="GetAltRef()"/>
<call fun="NavResurrect()"/>
<set value="0" var="kill_throttle"/>
<call fun="NavResurrect()"/>
</block>
<block key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<!-- TODO improve try takeof 5 time than give up an go to Holding point, something suck in the prop, a finger maybe ;)-->
<!-- <exception cond="!autopilot_motors_on" deroute="Takeoff"/>-->
<set value="0" var="autopilot_flight_time"/>
<!-- If take-off to first point takes to long to reach somehow because of some reason, abort flight -->
<exception cond="block_time > 120" deroute="Land"/>
<!-- To make sure that takoff is straight up to the height of first waypoint A, so no sideways take-off, since sideways movements starting at low height from takeoff can have nasty effects) -->
<!-- In real life aircraft can be blown sideways with strong wind TODO experiment with results of 2 stages 2 -->
<!-- TODO see if adding this 2nd stage is better -->
<attitude pitch="0" roll="0" throttle="0.90" until="stage_time > 1" vmode="throttle"/>
<!--Alternative <exception cond="WaypointAlt(WP_A) > stateGetPositionEnu_f()->z" deroute="A_to_B_and_back"/>-->
<stay vmode="climb" climb="0.8" until="WaypointAlt(WP_A) > stateGetPositionEnu_f()->z" wp="_CLIMB"/>
</block>
<!-- The From A to B and back, The only one visible block so no GCS choices to toy around with, a non expert would get confused -->
<block key="f" name="Follow">
<go wp="A"/>
<stay wp="A"/>
<!-- to make sure the route height to touchdown is high not lower than on the first takeoff-->
<!-- TODO: discuss this behaviour since it will look strange if drone first will climb to climb point and not decend when one presses land, perception difference-->
</block>
<!-- A key combination to initiate a landing -->
<block name="Land" key="l">
<!-->Set land to here-->
<go wp="_CLIMB"/>
<go wp="Landingspot"/>
<exception cond="!nav_is_in_flight()" deroute="Holding point"/>
<!-- decend with 2ms while staying at same spot-->
<stay climb="-2.0" vmode="climb" wp="Landingspot"/>
</block>
<!-- To be able to react to the panic button. On throttle this works better if your battery is almost empty it will not try to throttle up creating a batt dip, and then a mainboard that would stop working -->
<block name="Emergency" key="e" strip_button="Emergency" strip_icon="home_emergency.png">
<!-- If landing would takes to long take drastic measures, kill everything -->
<!-- <exception cond="Block_time > 50" value="1" var="kill_throttle"/>-->
<call fun="NavSetWaypointHere(WP__TDEMERGENCY)"/>
<exception cond="!nav_is_in_flight()" deroute="Holding point"/>
<stay wp="_TDEMERGENCY" throttle="0.50" vmode="throttle"/>
</block>
<block name="Holding point">
<call fun="NavKillThrottle()"/>
<attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
</block>
</blocks>
</flight_plan>