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This commit is contained in:
Pascal Brisset
2007-09-07 13:25:38 +00:00
parent aeabf7db39
commit 303cb4ac6f
1 changed files with 44 additions and 32 deletions
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conf/flight_plans/slayer_training.xml
+44 -32
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@@ -6,19 +6,25 @@
</header>
<waypoints>
<waypoint name="HOME" x="0" y="0"/>
<waypoint name="E1" x="65.8" y="123.3"/>
<waypoint name="E2" x="190.1" y="105.6"/>
<waypoint name="S1" x="-182.7" y="126.0"/>
<waypoint name="S2" x="307.6" y="257.0"/>
<waypoint name="T1" x="-172.3" y="223.2"/>
<waypoint name="T2" x="126.7" y="314.0"/>
<waypoint name="T1__" x="-275.8" y="234.9"/>
<waypoint name="T2__" x="213.1" y="307.2"/>
<waypoint name="T3_SW" x="266.7" y="80.3"/>
<waypoint name="T3_NE" x="439.1" y="240.0"/>
<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 alt="185.0" name="TD" x="58.3" y="45.2"/>
<waypoint name="BASELEG" x="309.9" y="138.1"/>
<waypoint name="WAIT" x="-82.4" y="33.8"/>
<waypoint name="STDBY" x="-82.4" y="33.8"/>
<waypoint name="RELEASE" x="126.9" y="181.6"/>
<waypoint name="START" x="264.1" y="187.9"/>
<waypoint name="START" x="168.8" y="-2.6"/>
<waypoint name="CLIMB" x="19.2" y="212.5"/>
<waypoint alt="0.0" name="TARGET" x="81.1" y="177.4"/>
<waypoint alt="0.0" name="TARGET" x="25.4" y="73.2"/>
<waypoint name="A1" x="58.8" y="23.3"/>
<waypoint name="A2" x="-30.7" y="66.8"/>
<waypoint name="A1__" x="139.1" y="-5.0"/>
<waypoint name="A2__" x="-119.6" y="111.7"/>
</waypoints>
<blocks>
<block name="wait GPS">
@@ -32,14 +38,38 @@
<block name="climb">
<attitude pitch="0.2" roll="0" throttle="0.9" until="estimator_z > ground_alt+30" vmode="throttle"/>
</block>
<block name="wait">
<circle radius="nav_radius" wp="WAIT"/>
<block name="standby">
<circle radius="nav_radius" wp="STDBY"/>
</block>
<block name="eight 1">
<eight center="E1" radius="nav_radius" turn_around="E2"/>
<block name="identify T1">
<eight center="T1" radius="nav_radius" turn_around="T1__"/>
</block>
<block name="survey">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
<block name="identify T2">
<eight center="T2" radius="nav_radius" turn_around="T2__"/>
</block>
<block name="locate T3">
<survey_rectangle grid="150" wp1="T3_SW" wp2="T3_NE"/>
</block>
<block name="bomb" strip_button="Bomb">
<set value="BombComputeApproach(WP_TARGET, WP_START)" var="unit"/>
<circle radius="BOMB_RADIUS" until="NavQdrCloseTo(DegOfRad(bomb_start_qdr)-10)" wp="BASELEG"/>
</block>
<block name="align">
<exception cond="BombUpdateRelease(WP_TARGET)" deroute="standby"/>
<go approaching_time="bomb_trigger_delay" from="START" hmode="route" wp="RELEASE"/>
</block>
<block name="shoot">
<set value="BombShoot()" var="unit"/>
<go approaching_time="0" from="RELEASE" hmode="route" wp="CLIMB"/>
<set value="BombCloseHatch()" var="unit"/>
<deroute block="standby"/>
</block>
<block name="close">
<set value="BombCloseHatch()" var="unit"/>
<deroute block="standby"/>
</block>
<block name="arch">
<go from="A1__" hmode="route" wp="A2__"/>
</block>
<block name="land">
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG)"/>
@@ -55,23 +85,5 @@
<go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
</block>
<block name="bomb" strip_button="Bomb">
<set value="BombComputeApproach(WP_TARGET, WP_START)" var="unit"/>
<circle radius="BOMB_RADIUS" until="NavQdrCloseTo(DegOfRad(bomb_start_qdr)-10)" wp="BASELEG"/>
</block>
<block name="align">
<exception cond="BombUpdateRelease(WP_TARGET)" deroute="wait"/>
<go approaching_time="bomb_trigger_delay" from="START" hmode="route" wp="RELEASE"/>
</block>
<block name="shoot">
<set value="BombShoot()" var="unit"/>
<go approaching_time="0" from="RELEASE" hmode="route" wp="CLIMB"/>
<set value="BombCloseHatch()" var="unit"/>
<deroute block="wait"/>
</block>
<block name="close">
<set value="BombCloseHatch()" var="unit"/>
<deroute block="wait"/>
</block>
</blocks>
</flight_plan>