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landing procedure

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This commit is contained in:
Pascal Brisset
2009-08-28 16:06:12 +00:00
parent dab2ef4c8c
commit 3c4d6999dc
1 changed files with 32 additions and 0 deletions
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conf/flight_plans/landing.xml
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<!DOCTYPE procedure SYSTEM "flight_plan.dtd">
<procedure>
<waypoints>
<waypoint name="AF" x="177.4" y="45.1" alt="30"/>
<waypoint name="TD" x="28.8" y="57.0" alt="0"/>
<waypoint name="_BASELEG" x="168.8" y="-13.8"/>
</waypoints>
<blocks>
<block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<deroute block="land"/>
</block>
<block name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
<set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<deroute block="land"/>
</block>
<block name="land">
<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD" alt="ground_alt"/>
</block>
<block name="flare">
<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>
</blocks>
</procedure>