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[nav] update some flight plans and airframes

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This commit is contained in:
Gautier Hattenberger
2014-03-14 22:28:23 +01:00
parent f0d97e46ca
commit 2a04c30245
20 changed files with 68 additions and 69 deletions
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conf/airframes/examples/Twinstar_energyadaptive.xml
+1
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@@ -61,6 +61,7 @@ twog_1.0 + aspirin + ETS baro + ETS speed
<define name="DC_SHUTTER_LED" value="5"/><!-- led4:aux led5:camsw--> <define name="DC_SHUTTER_LED" value="5"/><!-- led4:aux led5:camsw-->
</load> </load>
<load name="nav_survey_polygon.xml"/> <load name="nav_survey_polygon.xml"/>
<load name="nav_line.xml"/>
</modules> </modules>
<!-- ################################################## --> <!-- ################################################## -->
conf/airframes/examples/easystar_ets.xml
+1
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@@ -37,6 +37,7 @@
<load name="airspeed_ets.xml"/> <load name="airspeed_ets.xml"/>
<load name="baro_ets.xml"/> <load name="baro_ets.xml"/>
<load name="infrared_adc.xml"/> <load name="infrared_adc.xml"/>
<load name="nav_line.xml"/>
</modules> </modules>
<!-- commands section --> <!-- commands section -->
conf/airframes/examples/lisa_l_chimu.xml
+1
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@@ -32,6 +32,7 @@
<load name="ahrs_chimu_uart.xml"> <load name="ahrs_chimu_uart.xml">
<configure name="CHIMU_UART_NR" value="3"/> <configure name="CHIMU_UART_NR" value="3"/>
</load> </load>
<load name="nav_line.xml"/>
</modules> </modules>
<servos> <servos>
conf/airframes/examples/microjet_imu_xsens.xml
+1
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@@ -34,6 +34,7 @@
<modules> <modules>
<load name="sys_mon.xml"/> <load name="sys_mon.xml"/>
<load name="nav_line.xml"/>
</modules> </modules>
<servos> <servos>
conf/airframes/examples/microjet_twog_aspirin.xml
+1
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@@ -38,6 +38,7 @@
<modules> <modules>
<load name="sys_mon.xml"/> <load name="sys_mon.xml"/>
<load name="nav_line.xml"/>
</modules> </modules>
<servos> <servos>
conf/airframes/examples/umarim_lite_v2.xml
+3
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@@ -30,6 +30,9 @@
<subsystem name="ins" type="alt_float"/> <subsystem name="ins" type="alt_float"/>
</firmware> </firmware>
<modules>
<load name="nav_line.xml"/>
</modules>
<!-- commands section --> <!-- commands section -->
<servos> <servos>
conf/flight_plans/EMAV2008.xml
+2 -2
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@@ -67,8 +67,8 @@
</block> </block>
<block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png"> <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
<exception cond="datalink_time > 22" deroute="Standby"/> <exception cond="datalink_time > 22" deroute="Standby"/>
<call fun="nav_line_init()"/> <call fun="nav_line_start()"/>
<call fun="nav_line(WP_1, WP_2, nav_radius)"/> <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
</block> </block>
<block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png"> <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/> <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
conf/flight_plans/IS.xml
+5 -10
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@@ -2,12 +2,7 @@
<flight_plan ground_alt="0" alt="75" lat0="43.2375" lon0="1.3277" max_dist_from_home="3500" name="Intelligent Surveillance" qfu="270" security_height="35"> <flight_plan ground_alt="0" alt="75" lat0="43.2375" lon0="1.3277" max_dist_from_home="3500" name="Intelligent Surveillance" qfu="270" security_height="35">
<header> <header>
#include "chemo_detect.h" #include "subsystems/datalink/datalink.h"
#include "anemotaxis.h"
#include "chemotaxis.h"
#include "subsystems/navigation/discsurvey.h"
#include "subsystems/navigation/bomb.h"
#include "datalink.h"
</header> </header>
<waypoints> <waypoints>
<waypoint name="HOME" x="0" y="0"/> <waypoint name="HOME" x="0" y="0"/>
@@ -51,8 +46,8 @@
</block> </block>
<block name="Line"> <block name="Line">
<call fun="nav_line_init()"/> <call fun="nav_line_start()"/>
<call fun="nav_line(WP_1, WP_2, nav_radius)"/> <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
</block> </block>
@@ -85,8 +80,8 @@
<block name="Disc survey" strip_button="DS"> <block name="Disc survey" strip_button="DS">
<exception cond="chemo_sensor > 0" deroute="ChemotaxisHere"/> <exception cond="chemo_sensor > 0" deroute="ChemotaxisHere"/>
<call fun="disc_survey_init(150)"/> <call fun="nav_survey_disc_start(150)"/>
<call fun="disc_survey(WP_HOME, 350)"/> <call fun="nav_survey_disc_run(WP_HOME, 350)"/>
</block> </block>
<!-- <!--
conf/flight_plans/basic.xml
+2 -2
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@@ -55,8 +55,8 @@
<circle radius="nav_radius" wp="MOB"/> <circle radius="nav_radius" wp="MOB"/>
</block> </block>
<block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png" group="extra_pattern"> <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png" group="extra_pattern">
<call fun="nav_line_init()"/> <call fun="nav_line_start()"/>
<call fun="nav_line(WP_1, WP_2, nav_radius)"/> <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
</block> </block>
<block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png" group="extra_pattern"> <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png" group="extra_pattern">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/> <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
conf/flight_plans/creidlitz.xml
+2 -2
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@@ -55,8 +55,8 @@
</block> </block>
<block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png"> <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
<exception cond="datalink_time > 22" deroute="Standby"/> <exception cond="datalink_time > 22" deroute="Standby"/>
<call fun="nav_line_init()"/> <call fun="nav_line_start()"/>
<call fun="nav_line(WP_1, WP_2, nav_radius)"/> <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
</block> </block>
<block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png"> <block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
<oval p1="1" p2="2" radius="nav_radius"/> <oval p1="1" p2="2" radius="nav_radius"/>
conf/flight_plans/grosslobke_demo.xml
+9 -10
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@@ -2,7 +2,6 @@
<flight_plan alt="170" ground_alt="68" lat0="52.26483" lon0="9.99394" max_dist_from_home="1500" name="Gross Lobke Demo" qfu="270" security_height="60"> <flight_plan alt="170" ground_alt="68" lat0="52.26483" lon0="9.99394" max_dist_from_home="1500" name="Gross Lobke Demo" qfu="270" security_height="60">
<header> <header>
#include "subsystems/navigation/bomb.h"
#include "subsystems/datalink/datalink.h" #include "subsystems/datalink/datalink.h"
</header> </header>
<waypoints> <waypoints>
@@ -33,8 +32,8 @@
<survey_rectangle grid="150" wp1="S1" wp2="S2"/> <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
</block> </block>
<block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png"> <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
<call fun="nav_line_init()"/> <call fun="nav_line_start()"/>
<call fun="nav_line(WP_1, WP_2, nav_radius)"/> <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
</block> </block>
<block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png"> <block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
<oval p1="1" p2="2" radius="nav_radius"/> <oval p1="1" p2="2" radius="nav_radius"/>
@@ -92,21 +91,21 @@
<deroute block="bomb"/> <deroute block="bomb"/>
</block> </block>
<block name="bomb" strip_button="Bomb"> <block name="bomb" strip_button="Bomb">
<set value="BombComputeApproach(WP_TARGET, WP_START, nav_radius)" var="unit"/> <set value="NavDropComputeApproach(WP_TARGET, WP_START, nav_radius)" var="unit"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(bomb_start_qdr)-10)" wp="BASELEG"/> <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(nav_drop_start_qdr)-10)" wp="BASELEG"/>
</block> </block>
<block name="align"> <block name="align">
<exception cond="BombUpdateRelease(WP_TARGET)" deroute="wait"/> <exception cond="NavDropUpdateRelease(WP_TARGET)" deroute="wait"/>
<go approaching_time="bomb_trigger_delay" from="START" hmode="route" wp="RELEASE"/> <go approaching_time="nav_drop_trigger_delay" from="START" hmode="route" wp="RELEASE"/>
</block> </block>
<block name="shoot"> <block name="shoot">
<set value="BombShoot()" var="unit"/> <set value="NavDropShoot()" var="unit"/>
<go from="RELEASE" hmode="route" wp="CLIMB"/> <go from="RELEASE" hmode="route" wp="CLIMB"/>
<set value="BombCloseHatch()" var="unit"/> <set value="NavDropCloseHatch()" var="unit"/>
<deroute block="wait"/> <deroute block="wait"/>
</block> </block>
<block name="close"> <block name="close">
<set value="BombCloseHatch()" var="unit"/> <set value="NavDropCloseHatch()" var="unit"/>
<deroute block="wait"/> <deroute block="wait"/>
</block--> </block-->
conf/flight_plans/joystick.xml
+2 -2
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@@ -54,8 +54,8 @@
</block> </block>
<block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png"> <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
<exception cond="datalink_time > 22" deroute="Standby"/> <exception cond="datalink_time > 22" deroute="Standby"/>
<call fun="nav_line_init()"/> <call fun="nav_line_start()"/>
<call fun="nav_line(WP_1, WP_2, nav_radius)"/> <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
</block> </block>
<block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png" pre_call="{}"> <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png" pre_call="{}">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/> <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
conf/flight_plans/kv_svalbard.xml
+2 -2
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@@ -57,8 +57,8 @@
</block> </block>
<block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png"> <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
<exception cond="datalink_time > 22" deroute="Standby"/> <exception cond="datalink_time > 22" deroute="Standby"/>
<call fun="nav_line_init()"/> <call fun="nav_line_start()"/>
<call fun="nav_line(WP_1, WP_2, nav_radius)"/> <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
</block> </block>
<block name="Survey S1-S2 NS" strip_button="Survey (wp S1-S2) NS" strip_icon="survey.png"> <block name="Survey S1-S2 NS" strip_button="Survey (wp S1-S2) NS" strip_icon="survey.png">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/> <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
conf/flight_plans/mav06.xml
+11 -12
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@@ -1,7 +1,6 @@
<flight_plan alt="100" ground_alt="59" lat0="30.6478" lon0="-86.3253" max_dist_from_home="1500" name="MAV06" qfu="90" security_height="25"> <flight_plan alt="100" ground_alt="59" lat0="30.6478" lon0="-86.3253" max_dist_from_home="1500" name="MAV06" qfu="90" security_height="25">
<header> <header>
#include "subsystems/navigation/bomb.h" </header>
</header>
<waypoints> <waypoints>
<waypoint alt="59." name="TARGET" x="85.1922610838" y="8.50236448925"/> <waypoint alt="59." name="TARGET" x="85.1922610838" y="8.50236448925"/>
<waypoint name="TARGET1" x="700.251490867" y="-210.691196656"/> <waypoint name="TARGET1" x="700.251490867" y="-210.691196656"/>
@@ -67,21 +66,21 @@
</block> </block>
<block name="bomb" strip_button="Bomb"> <block name="bomb" strip_button="Bomb">
<set value="BombComputeApproach()" var="unit"/> <set value="NavDropComputeApproach()" var="unit"/>
<circle radius="BOMB_RADIUS" until="Qdr(DegOfRad(bomb_start_qdr)-10)" wp="BASELEG"/> <circle radius="BOMB_RADIUS" until="Qdr(DegOfRad(nav_drop_start_qdr)-10)" wp="BASELEG"/>
</block> </block>
<block name="align"> <block name="align">
<exception cond="BombUpdateRelease()" deroute="kill"/> <exception cond="NavDropUpdateRelease()" deroute="kill"/>
<go approaching_time="bomb_trigger_delay" from="START" hmode="route" wp="RELEASE"/> <go approaching_time="nav_drop_trigger_delay" from="START" hmode="route" wp="RELEASE"/>
</block> </block>
<block name="shoot"> <block name="shoot">
<set value="BombShoot()" var="unit"/> <set value="NavDropShoot()" var="unit"/>
<go approaching_time="0" from="RELEASE" hmode="route" wp="CLIMB"/> <go approaching_time="0" from="RELEASE" hmode="route" wp="CLIMB"/>
<set value="BombCloseHatch()" var="unit"/> <set value="NavDropCloseHatch()" var="unit"/>
<deroute block="wait"/> <deroute block="wait"/>
</block> </block>
<block name="close"> <block name="close">
<set value="BombCloseHatch()" var="unit"/> <set value="NavDropCloseHatch()" var="unit"/>
<deroute block="wait"/> <deroute block="wait"/>
</block> </block>
@@ -98,8 +97,8 @@
</block>--> </block>-->
<block name="Line" strip_button="Line"> <block name="Line" strip_button="Line">
<call fun="nav_line_init()"/> <call fun="nav_line_start()"/>
<call fun="nav_line(WP_11, WP_22, 100)"/> <call fun="nav_line_run(WP_11, WP_22, 100)"/>
</block> </block>
</blocks> </blocks>
</flight_plan> </flight_plan>
conf/flight_plans/mav07.xml
+7 -8
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@@ -2,7 +2,6 @@
<flight_plan alt="225" ground_alt="175" lat0="43.53900" lon0="1.24500" max_dist_from_home="1500" name="MAV07" qfu="0" security_height="25"> <flight_plan alt="225" ground_alt="175" lat0="43.53900" lon0="1.24500" max_dist_from_home="1500" name="MAV07" qfu="0" security_height="25">
<header> <header>
#include "subsystems/navigation/bomb.h"
#include "datalink.h" #include "datalink.h"
</header> </header>
<waypoints> <waypoints>
@@ -98,21 +97,21 @@
<deroute block="bomb"/> <deroute block="bomb"/>
</block> </block>
<block name="bomb" strip_button="Bomb"> <block name="bomb" strip_button="Bomb">
<set value="BombComputeApproach(WP_TARGET, WP_START, nav_radius)" var="unit"/> <set value="NavDropComputeApproach(WP_TARGET, WP_START, nav_radius)" var="unit"/>
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(bomb_start_qdr)-10)" wp="BASELEG"/> <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(nav_drop_start_qdr)-10)" wp="BASELEG"/>
</block> </block>
<block name="align"> <block name="align">
<exception cond="BombUpdateRelease(WP_TARGET)" deroute="standby"/> <exception cond="NavDropUpdateRelease(WP_TARGET)" deroute="standby"/>
<go approaching_time="bomb_trigger_delay" from="START" hmode="route" wp="RELEASE"/> <go approaching_time="nav_drop_trigger_delay" from="START" hmode="route" wp="RELEASE"/>
</block> </block>
<block name="shoot"> <block name="shoot">
<set value="BombShoot()" var="unit"/> <set value="NavDropShoot()" var="unit"/>
<go from="RELEASE" hmode="route" wp="CLIMB"/> <go from="RELEASE" hmode="route" wp="CLIMB"/>
<set value="BombCloseHatch()" var="unit"/> <set value="NavDropCloseHatch()" var="unit"/>
<deroute block="standby"/> <deroute block="standby"/>
</block> </block>
<block name="close"> <block name="close">
<set value="BombCloseHatch()" var="unit"/> <set value="NavDropCloseHatch()" var="unit"/>
<deroute block="standby"/> <deroute block="standby"/>
</block> </block>
<block name="Arch Left"> <block name="Arch Left">
conf/flight_plans/mav08.xml
+2 -2
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@@ -80,8 +80,8 @@
<circle radius="nav_radius" wp="MOB"/> <circle radius="nav_radius" wp="MOB"/>
</block> </block>
<block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png"> <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
<call fun="nav_line_init()"/> <call fun="nav_line_start()"/>
<call fun="nav_line(WP_1, WP_2, nav_radius)"/> <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
</block> </block>
<block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png"> <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/> <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
conf/flight_plans/nordlys.xml
+2 -2
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@@ -49,8 +49,8 @@
<deroute block="wait"/> <deroute block="wait"/>
</block> </block>
<block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png"> <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
<call fun="nav_line_init()"/> <call fun="nav_line_start()"/>
<call fun="nav_line(WP_1, WP_2, nav_radius)"/> <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
</block> </block>
<block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png"> <block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
<oval p1="1" p2="2" radius="nav_radius"/> <oval p1="1" p2="2" radius="nav_radius"/>
conf/flight_plans/slayer_training.xml
+8 -9
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@@ -2,8 +2,7 @@
<flight_plan alt="75" ground_alt="0" lat0="43.4622" lon0="1.2729" max_dist_from_home="800" name="Versatile" qfu="270" security_height="25"> <flight_plan alt="75" ground_alt="0" lat0="43.4622" lon0="1.2729" max_dist_from_home="800" name="Versatile" qfu="270" security_height="25">
<header> <header>
#include "subsystems/navigation/bomb.h" </header>
</header>
<waypoints> <waypoints>
<waypoint name="HOME" x="0" y="0"/> <waypoint name="HOME" x="0" y="0"/>
<waypoint name="T1" x="-172.3" y="223.2"/> <waypoint name="T1" x="-172.3" y="223.2"/>
@@ -51,21 +50,21 @@
<survey_rectangle grid="150" wp1="T3_SW" wp2="T3_NE"/> <survey_rectangle grid="150" wp1="T3_SW" wp2="T3_NE"/>
</block> </block>
<block name="bomb" strip_button="Bomb"> <block name="bomb" strip_button="Bomb">
<set value="BombComputeApproach(WP_TARGET, WP_START)" var="unit"/> <set value="NavDropComputeApproach(WP_TARGET, WP_START)" var="unit"/>
<circle radius="BOMB_RADIUS" until="NavQdrCloseTo(DegOfRad(bomb_start_qdr)-10)" wp="BASELEG"/> <circle radius="BOMB_RADIUS" until="NavQdrCloseTo(DegOfRad(nav_drop_start_qdr)-10)" wp="BASELEG"/>
</block> </block>
<block name="align"> <block name="align">
<exception cond="BombUpdateRelease(WP_TARGET)" deroute="standby"/> <exception cond="NavDropUpdateRelease(WP_TARGET)" deroute="standby"/>
<go approaching_time="bomb_trigger_delay" from="START" hmode="route" wp="RELEASE"/> <go approaching_time="nav_drop_trigger_delay" from="START" hmode="route" wp="RELEASE"/>
</block> </block>
<block name="shoot"> <block name="shoot">
<set value="BombShoot()" var="unit"/> <set value="NavDropShoot()" var="unit"/>
<go approaching_time="0" from="RELEASE" hmode="route" wp="CLIMB"/> <go approaching_time="0" from="RELEASE" hmode="route" wp="CLIMB"/>
<set value="BombCloseHatch()" var="unit"/> <set value="NavDropCloseHatch()" var="unit"/>
<deroute block="standby"/> <deroute block="standby"/>
</block> </block>
<block name="close"> <block name="close">
<set value="BombCloseHatch()" var="unit"/> <set value="NavDropCloseHatch()" var="unit"/>
<deroute block="standby"/> <deroute block="standby"/>
</block> </block>
<block name="arch"> <block name="arch">
conf/flight_plans/tcas.xml
+2 -2
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@@ -54,8 +54,8 @@
</block> </block>
<block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png"> <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
<exception cond="datalink_time > 22" deroute="Standby"/> <exception cond="datalink_time > 22" deroute="Standby"/>
<call fun="nav_line_init()"/> <call fun="nav_line_start()"/>
<call fun="nav_line(WP_1, WP_2, nav_radius)"/> <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
</block> </block>
<block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png"> <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/> <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
conf/flight_plans/xsens_cachejunction.xml
+4 -4
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@@ -44,16 +44,16 @@
</block> </block>
<block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png"> <block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
<exception cond="datalink_time > 22" deroute="Standby"/> <exception cond="datalink_time > 22" deroute="Standby"/>
<call fun="nav_line_init()"/> <call fun="nav_line_start()"/>
<call fun="nav_line(WP_1, WP_2, nav_radius)"/> <call fun="nav_line_run(WP_1, WP_2, nav_radius)"/>
</block> </block>
<block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png"> <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
<survey_rectangle grid="35" wp1="S1" wp2="S2"/> <survey_rectangle grid="35" wp1="S1" wp2="S2"/>
</block> </block>
<block name="Line S4-5" strip_button="Line (S 4-5)"> <block name="Line S4-5" strip_button="Line (S 4-5)">
<exception cond="datalink_time > 22" deroute="Standby"/> <exception cond="datalink_time > 22" deroute="Standby"/>
<call fun="nav_line_init()"/> <call fun="nav_line_start()"/>
<call fun="nav_line(WP_S4, WP_S5, nav_radius)"/> <call fun="nav_line_run(WP_S4, WP_S5, nav_radius)"/>
</block> </block>
<block name="Steps roll -10, +10"> <block name="Steps roll -10, +10">
<while cond="TRUE"> <while cond="TRUE">