From 30126acba4eb2de206dca5897d0f9fcedb6ce043 Mon Sep 17 00:00:00 2001
From: Antoine Drouin <poinix@gmail.com>
Date: Tue, 9 Sep 2008 15:37:04 +0000
Subject: [PATCH] *** empty log message ***

---
 conf/airframes/booz2.xml           |  2 +-
 conf/autopilot/conf_booz2.makefile |  2 ++
 conf/flight_plans/booz_test_1.xml  | 27 ++++++++-------------------
 3 files changed, 11 insertions(+), 20 deletions(-)

diff --git a/conf/airframes/booz2.xml b/conf/airframes/booz2.xml
index 086daaf34d..aaef931d37 100644
--- a/conf/airframes/booz2.xml
+++ b/conf/airframes/booz2.xml
@@ -167,7 +167,7 @@
 
 
   <section name="GUIDANCE_V" prefix="BOOZ2_GUIDANCE_V_">
-   <define name="HOVER_POWER" value="60"/>
+   <define name="HOVER_POWER" value="65"/>
    <define name="HOVER_KP"    value="-200"/>
    <define name="HOVER_KD"    value="-100"/>
    <define name="HOVER_KI"    value="-50"/>
diff --git a/conf/autopilot/conf_booz2.makefile b/conf/autopilot/conf_booz2.makefile
index 4ae2411738..e802c9a84b 100644
--- a/conf/autopilot/conf_booz2.makefile
+++ b/conf/autopilot/conf_booz2.makefile
@@ -137,6 +137,8 @@ ap.CFLAGS += -DGPS_LINK=Uart1 -DGPS_LED=7
 ap.srcs += $(BOOZ_PRIV)/booz2_gps.c
 ap.srcs += $(BOOZ_PRIV)/booz2_guidance_h.c
 ap.srcs += $(BOOZ_PRIV)/booz2_guidance_v.c
+
+#ap.CFLAGS += -DNAV_ENAC
 ap.srcs += $(BOOZ_PRIV)/booz2_navigation.c
 
 
diff --git a/conf/flight_plans/booz_test_1.xml b/conf/flight_plans/booz_test_1.xml
index ef4569af35..9282ba80d3 100644
--- a/conf/flight_plans/booz_test_1.xml
+++ b/conf/flight_plans/booz_test_1.xml
@@ -1,31 +1,20 @@
-<flight_plan name="booz test 1" lon0="1.27289" lat0="43.46223" ground_alt="185"  alt="250" max_dist_from_home="400" security_height="1">
-
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
 
+<flight_plan alt="250" ground_alt="0" lat0="48.8613611" lon0="1.8951388" max_dist_from_home="400" name="booz test 1" security_height="1">
   <waypoints>
-    <waypoint name="HOME" x="0.0"  y="0.0" alt="187."/>
-    <waypoint name="p1"   x="10"   y="0"   alt="187."/>
-    <waypoint name="p2"   x="20"   y="0"   alt="187."/>
+    <waypoint alt="0.0" name="HOME" x="-18.2" y="-24.6"/>
+    <waypoint alt="0.0" name="D1" x="-0.6" y="0.0"/>
+    <waypoint alt="0.0" name="D2" x="-53.7" y="-45.6"/>
+    <waypoint alt="0.0" name="p1" x="-72.8" y="-70.0"/>
+    <waypoint alt="0.0" name="p2" x="-132.2" y="-118.5"/>
+    <waypoint alt="0.0" name="p3" x="-76.0" y="-137.9"/>
   </waypoints>
-
   <blocks>
-
     <block name="stay_p1">
       <stay wp="p1"/>
     </block>
-
     <block name="stay_p2">
       <stay wp="p2"/>
     </block>
-
-<!--
-   <block name="Steps roll -5, +5">
-      <while cond="TRUE">
-        <attitude alt="187" roll="5.0" until=" stage_time > 2" vmode="alt"/>
-        <attitude alt="187" roll="-5.0" until="stage_time > 2" vmode="alt"/>
-      </while>
-    </block>
--->
-
   </blocks>
-
 </flight_plan>