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This commit is contained in:
Pascal Brisset
2007-09-22 16:53:14 +00:00
parent aaecd9f6c6
commit 2991ced154
1 changed files with 56 additions and 63 deletions
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conf/flight_plans/versatile.xml
+56 -63
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@@ -7,19 +7,20 @@
<waypoints>
<waypoint name="HOME" x="0" y="0"/>
<waypoint name="STDBY" x="20" y="80"/>
<waypoint name="1" x="200" y="0"/>
<waypoint name="2" x="0" y="200"/>
<waypoint name="MOB" x="200" y="200"/>
<waypoint name="S1" x="-200" y="-200"/>
<waypoint name="S2" x="300" y="400"/>
<waypoint alt="215" name="AF" x="200" y="-10"/>
<waypoint name="TOD" x="-150" y="0"/>
<waypoint alt="185" name="TD" x="80" y="20"/>
<waypoint name="BASELEG" x="400" y="300"/>
<waypoint name="1" x="44.8" y="102.2"/>
<waypoint name="2" x="-63.5" y="122.9"/>
<waypoint name="MOB" x="-11.5" y="-21.2"/>
<waypoint name="S1" x="-151.6" y="80.4"/>
<waypoint name="S2" x="180.1" y="214.9"/>
<waypoint alt="30" name="AF" x="200" y="-10"/>
<waypoint name="TOD" x="8.0" y="-22.7"/>
<waypoint alt="0" name="TD" x="80.0" y="20.0"/>
<waypoint name="BASELEG" x="26.9" y="-23.0"/>
<waypoint name="_1" x="-100" y="0"/>
<waypoint name="_2" x="-100" y="200"/>
<waypoint name="_3" x="100" y="200"/>
<waypoint name="_4" x="100" y="0"/>
<waypoint name="CLIMB" x="-122.5" y="35.4"/>
</waypoints>
<sectors>
<sector name="Square">
@@ -31,87 +32,79 @@
</sectors>
<exceptions/>
<blocks>
<block name="wait GPS">
<block name="Wait GPS">
<set value="1" var="kill_throttle"/>
<while cond="!GpsFixValid()"/>
</block>
<block name="init">
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 10)"/>
<call fun="NavSetGroundReferenceHere()"/>
<deroute block="climb"/>
</block>
<block name="kill">
<block name="Kill">
<set value="1" var="kill_throttle"/>
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="climb">
<block name="Takeoff">
<exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<circle pitch="10" radius="nav_radius" throttle="1" until="estimator_z > ground_alt+50" vmode="throttle" wp="1"/>
<go wp="CLIMB"/>
</block>
<block name="Standby" strip_button="Standby">
<circle radius="nav_radius" wp="STDBY"/>
<circle radius="nav_radius" wp="1"/>
</block>
<block name="circles">
<for from="1" to="5" var="i">
<set value="$i*50" var="waypoints[WP_2].x"/>
<set value="$i*50+nav_radius" var="waypoints[WP_2].y"/>
<go wp="2"/>
<set value="$i*50" var="waypoints[WP_2].y"/>
<circle radius="nav_radius" until="NavCircleCount()>1" wp="2"/>
</for>
</block>
<block name="eight 1">
<block name="Figure 8 around wp 1">
<eight center="1" radius="nav_radius" turn_around="2"/>
</block>
<block name="oval">
<block name="Oval 1-2">
<oval p1="1" p2="2" radius="nav_radius"/>
</block>
<block name="MOB" strip_button="MOB">
<call fun="NavSetWaypointHere(WP_MOB)"/>
<circle radius="100" wp="MOB"/>
</block>
<block name="circle 1 auto pitch">
<block name="Auto pitch (circle wp 1)">
<circle pitch="auto" radius="75" throttle="0.7" wp="1"/>
</block>
<block name="climb 75">
<block name="Climb 75% throttle">
<circle pitch="10" radius="50+(estimator_z-ground_alt)/2" throttle="0.75" until="(10 > PowerVoltage()) || (estimator_z > ground_alt+ 1350)" vmode="throttle" wp="1"/>
</block>
<block name="climb var">
<circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (estimator_z > ground_alt+ 1350)" vmode="climb" wp="1"/>
</block>
<block name="climb 1">
<circle climb="1" pitch="5" radius="50+(estimator_z-ground_alt)/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
</block>
<block name="climb 0">
<block name="Climb 0m/s">
<circle climb="0" radius="nav_radius" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
</block>
<block name="descent 0" strip_button="Descent">
<block name="Climb 1m/s">
<circle climb="1" pitch="5" radius="50+(estimator_z-ground_alt)/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
</block>
<block name="Climb nav_climb m/s">
<circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (estimator_z > ground_alt+ 1350)" vmode="climb" wp="1"/>
</block>
<block name="Descent 0% throttle" strip_button="Descent">
<circle pitch="-5" radius="50+(estimator_z-ground_alt)/2" throttle="0.0" until="ground_alt+50 > estimator_z" vmode="throttle" wp="1"/>
<deroute block="Standby"/>
</block>
<block name="route12">
<block name="Route 1-2">
<go approaching_time="0" from="1" hmode="route" wp="2"/>
</block>
<block name="glide12">
<go from="1" hmode="route" vmode="glide" wp="2"/>
</block>
<block name="stack 2">
<block name="Stack wp 2">
<circle radius="75" wp="2"/>
</block>
<block name="route21">
<block name="Route 2-1">
<go approaching_time="0" from="2" hmode="route" wp="1"/>
</block>
<block name="stack 1">
<block name="Stack wp 1">
<circle radius="75" wp="1"/>
</block>
<block name="survey">
<block name="Glide 1-2">
<go from="1" hmode="route" vmode="glide" wp="2"/>
<deroute block="Standby"/>
</block>
<block name="Survey S1-S2">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
</block>
<block name="Land Right">
<block name="Land Right AF-TD">
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<deroute block="land"/>
</block>
<block name="Land Left">
<block name="Land Left AF-TD">
<set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<deroute block="land"/>
</block>
@@ -123,52 +116,52 @@
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
<go from="TOD" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
<go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
<go approaching_time="0" from="TOD" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
</block>
<block name="step_roll_10">
<block name="Steps roll -10, +10">
<while cond="TRUE">
<attitude alt="250" roll="10.0" until=" stage_time > 6" vmode="alt"/>
<attitude alt="250" roll="-10.0" until="stage_time > 6" vmode="alt"/>
</while>
</block>
<block name="step_roll_20">
<block name="Steps roll -20, +20">
<while cond="TRUE">
<attitude alt="250" roll="20.0" until=" stage_time > 3" vmode="alt"/>
<attitude alt="250" roll="-20.0" until="stage_time > 3" vmode="alt"/>
</while>
</block>
<block name="step_pitch_10">
<block name="Steps pitch -10, +10">
<while cond="TRUE">
<attitude alt="250" pitch="10" roll="0.0" until=" stage_time > 2" vmode="alt"/>
<attitude alt="250" pitch="-10" roll="0.0" until=" stage_time > 2" vmode="alt"/>
</while>
</block>
<block name="heading">
<block name="Heading 30°">
<heading alt="ground_alt+50" course="30" until="FALSE"/>
</block>
<block name="for">
<block name="For loop (circles wp 1)">
<for from="0" to="3" var="i">
<circle alt="ground_alt+50+50*$i" radius="75" until="stage_time>10" wp="HOME"/>
<circle radius="DEFAULT_CIRCLE_RADIUS+ $i*10" wp="1" until="NavCircleCount() > 1"/>
</for>
<circle radius="50" wp="HOME"/>
<deroute block="Standby"/>
</block>
<block name="far away">
<block name="Test datalink (go to wp 2)">
<exception cond="datalink_time > 22" deroute="Standby"/>
<go approaching_time="0" from="1" hmode="route" wp="2"/>
<go approaching_time="0" from="2" hmode="route" wp="1"/>
<go from="STDBY" hmode="route" wp="2"/>
<go from="2" hmode="route" wp="STDBY"/>
</block>
<block name="Fly in Square">
<exception cond="! InsideSquare(estimator_x, estimator_y)" deroute="Come back"/>
<exception cond="! InsideSquare(estimator_x, estimator_y)" deroute="Come back wp 1"/>
<attitude alt="ground_alt+75" roll="0" vmode="alt"/>
</block>
<block name="Come back">
<block name="Come back wp 1">
<exception cond="InsideSquare(estimator_x, estimator_y)" deroute="Fly in Square"/>
<go wp="STDBY"/>
<go wp="1"/>
<deroute block="Fly in Square"/>
</block>
</blocks>
</flight_plan>