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https://github.com/paparazzi/paparazzi.git
synced 2026-05-29 19:17:28 +08:00
[IMAV] FP
This commit is contained in:
Christophe De Wagter
@@ -53,6 +53,9 @@
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<load name="nav_survey_rectangle_rotorcraft.xml">
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<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
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</load>
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<load name="nav_survey_poly_rotorcraft.xml">
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<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
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</load>
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<load name="digital_cam_video.xml">
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<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="10"/>
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</load>
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@@ -18,7 +18,7 @@
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telemetry="telemetry/default_rotorcraft.xml"
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flight_plan="flight_plans/Tudelft/rotorcraft_survey_competition.xml"
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settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_indi.xml"
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settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam_video.xml"
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settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml"
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gui_color="#ffff0689b7a1"
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/>
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<aircraft
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@@ -1,77 +1,71 @@
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<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
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<flight_plan alt="30" ground_alt="0" lat0="50.789517" lon0="6.047089" max_dist_from_home="400" name="IMAV2015_competition_outdoor" security_height="2">
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<flight_plan alt="30" ground_alt="0" lat0="50.788595" lon0="6.04692" max_dist_from_home="500" name="IMAV2015_competition_outdoor" security_height="2">
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<waypoints>
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<waypoint name="HOME" x="0.0" y="0.0"/>
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<waypoint name="CLIMB" x="0.0" y="5.0"/>
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<waypoint name="STDBY" x="-2.0" y="-5.0"/>
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<waypoint lat="50.791905" lon="6.050280" name="raceA"/>
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<waypoint lat="50.790329" lon="6.047711" name="raceB"/>
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<waypoint lat="50.789794" lon="6.047433" name="water_gather"/>
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<waypoint lat="50.788935" lon="6.04677" name="water_drop"/>
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<waypoint lat="50.788882" lon="6.04664" name="buidling"/>
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<waypoint lat="50.788862" lon="6.04662" name="window_enter"/>
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<waypoint lat="50.788788" lon="6.046509" name="release_zone_1"/>
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<waypoint lat="50.788923" lon="6.046411" name="release_zone_2"/>
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<waypoint lat="50.788977" lon="6.046422" name="release_zone_3"/>
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<waypoint lat="50.789517" lon="6.047089" name="field_center"/>
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<waypoint lat="50.788867" lon="6.047097" name="landing"/>
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<waypoint lat="50.788867" lon="6.047097" name="take_off"/>
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<waypoint lat="50.788917" lon="6.047113" name="corner_e"/>
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<waypoint lat="50.788615" lon="6.046760" name="corner_s"/>
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<waypoint lat="50.788992" lon="6.045993" name="corner_w"/>
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<waypoint lat="50.789323" lon="6.04633" name="corner_n"/>
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<waypoint lat="50.790144" lon="6.046879" name="green1A"/>
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<waypoint lat="50.789748" lon="6.047844" name="green1B"/>
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<waypoint lat="50.789009" lon="6.046983" name="green1C"/>
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<waypoint lat="50.788901" lon="6.047261" name="green1D"/>
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<waypoint lat="50.788562" lon="6.046819" name="green1E"/>
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<waypoint lat="50.789133" lon="6.045664" name="green1F"/>
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<waypoint lat="50.792148" lon="6.050254" name="green2A"/>
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<waypoint lat="50.791919" lon="6.050600" name="green2B"/>
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<waypoint lat="50.790328" lon="6.047809" name="green2C"/>
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<waypoint lat="50.790463" lon="6.047445" name="green2D"/>
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<waypoint lat="50.792258" lon="6.050243" name="red1"/>
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<waypoint lat="50.791936" lon="6.050774" name="red2"/>
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<waypoint lat="50.790049" lon="6.047459" name="red3"/>
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<waypoint lat="50.789813" lon="6.047994" name="red4"/>
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<waypoint lat="50.788911" lon="6.047371" name="red5"/>
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<waypoint lat="50.788499" lon="6.046839" name="red6"/>
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<waypoint lat="50.789122" lon="6.045567" name="red7"/>
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<waypoint lat="50.790228" lon="6.046823" name="red8"/>
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<waypoint name="p1" x="-3.2" y="17.7"/>
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<waypoint name="p2" x="14.1" y="-12.3"/>
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<waypoint name="p3" x="16.7" y="-19.6"/>
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<waypoint name="p4" x="13.7" y="-40.7"/>
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<waypoint name="CAM" x="19.2" y="-55.4"/>
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<waypoint name="TD" x="5.6" y="-10.9"/>
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<waypoint height="30" name="S1" x="50.0" y="-49.8"/>
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<waypoint height="30" name="S2" x="-19.0" y="11.8"/>
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<waypoint name="HOME" x="0.0" y=".0"/>
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<waypoint name="CLIMB" x="-7.6" y="15.4"/>
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<waypoint name="STDBY" x="-3.7" y="24.0"/>
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<waypoint lat="50.790483" lon="6.047899" name="raceA"/>
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<waypoint lat="50.791800" lon="6.050200" name="raceB"/>
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<waypoint lat="50.789794" lon="6.047431" name="WG"/>
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<waypoint lat="50.788923" lon="6.046754" name="WD"/>
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<waypoint lat="50.788761" lon="6.046508" name="RZ1"/>
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<waypoint lat="50.788912" lon="6.046406" name="RZ2"/>
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<waypoint lat="50.788972" lon="6.046423" name="RZ3"/>
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<waypoint lat="50.789522" lon="6.047118" name="FC"/>
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<waypoint lat="50.788917" lon="6.047113" name="S1"/>
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<waypoint lat="50.788597" lon="6.046721" name="S2"/>
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<waypoint lat="50.788973" lon="6.045944" name="S3"/>
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<waypoint lat="50.789323" lon="6.046330" name="S4"/>
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<waypoint lat="50.790144" lon="6.046879" name="_green1A"/>
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<waypoint lat="50.789748" lon="6.047844" name="_green1B"/>
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<waypoint lat="50.789058" lon="6.047072" name="_green1C"/>
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<waypoint lat="50.788919" lon="6.047391" name="_green1D"/>
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<waypoint lat="50.788477" lon="6.046880" name="_green1E"/>
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<waypoint lat="50.789113" lon="6.045554" name="_green1F"/>
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<waypoint lat="50.792252" lon="6.050405" name="_green2A"/>
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<waypoint lat="50.791915" lon="6.050962" name="_green2B"/>
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<waypoint lat="50.790077" lon="6.047761" name="_green2C"/>
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<waypoint lat="50.790426" lon="6.047251" name="_green2D"/>
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<waypoint lat="50.792552" lon="6.050093" name="_red1"/>
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<waypoint lat="50.791882" lon="6.051268" name="_red2"/>
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<waypoint lat="50.789988" lon="6.047834" name="_red3"/>
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<waypoint lat="50.789781" lon="6.048204" name="_red4"/>
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<waypoint lat="50.788865" lon="6.047626" name="_red5"/>
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<waypoint lat="50.788209" lon="6.046744" name="_red6"/>
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<waypoint lat="50.789046" lon="6.045032" name="_red7"/>
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<waypoint lat="50.790416" lon="6.046338" name="_red8"/>
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<waypoint name="p1" x="77.2" y="199.5"/>
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<waypoint name="p2" x="70.7" y="206.8"/>
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<waypoint name="p3" x="246.1" y="353.6"/>
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<waypoint name="p4" x="252.3" y="347.2"/>
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<waypoint name="CAM" x="27.5" y="95.0"/>
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<waypoint lat="50.788731" lon="6.046967" name="TD"/>
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</waypoints>
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<sectors>
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<sector color="red" name="RED">
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<corner name="red1"/>
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<corner name="red2"/>
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<corner name="red3"/>
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<corner name="red4"/>
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<corner name="red5"/>
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<corner name="red6"/>
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<corner name="red7"/>
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<corner name="red8"/>
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<corner name="_red1"/>
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<corner name="_red2"/>
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<corner name="_red3"/>
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<corner name="_red4"/>
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<corner name="_red5"/>
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<corner name="_red6"/>
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<corner name="_red7"/>
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<corner name="_red8"/>
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</sector>
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<sector color="green" name="GREEN1">
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<corner name="green1A"/>
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<corner name="green1B"/>
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<corner name="green1C"/>
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<corner name="green1D"/>
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<corner name="green1E"/>
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<corner name="green1F"/>
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<corner name="_green1A"/>
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<corner name="_green1B"/>
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<corner name="_green1C"/>
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<corner name="_green1D"/>
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<corner name="_green1E"/>
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<corner name="_green1F"/>
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</sector>
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<sector color="green" name="GREEN2">
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<corner name="green2A"/>
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<corner name="green2B"/>
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<corner name="green2C"/>
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<corner name="green2D"/>
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<corner name="_green2A"/>
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<corner name="_green2B"/>
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<corner name="_green2C"/>
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<corner name="_green2D"/>
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</sector>
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</sectors>
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<includes>
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@@ -39,11 +39,19 @@
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<block name="Standby" strip_button="Standby" strip_icon="home.png">
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<stay wp="STDBY"/>
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</block>
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<block name="LookRobot" strip_button="LookRobot" strip_icon="home.png">
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<stay wp="FC"/>
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</block>
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<block name="visualflare">
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<exception cond="NavDetectGround()" deroute="holding_point"/>
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<exception cond="!nav_is_in_flight()" deroute="landed"/>
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<call fun="NavStartDetectGround()"/>
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<stay climb="nav_descend_vspeed" vmode="climb" wp="CAM"/>
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</block>
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<block name="stay_p1">
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<stay wp="p1"/>
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</block>
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<block name="go_p2">
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<call fun="nav_set_heading_deg(90)"/>
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<go wp="p2"/>
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<deroute block="stay_p1"/>
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</block>
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@@ -53,11 +61,17 @@
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<go from="p2" hmode="route" wp="p1"/>
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<deroute block="stay_p1"/>
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</block>
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<block name="route">
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<go from="p1" hmode="route" wp="p3"/>
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<block name="race">
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<go from="p1" hmode="route" wp="p2"/>
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<go from="p2" hmode="route" wp="p3"/>
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<go from="p3" hmode="route" wp="p4"/>
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<go from="p4" hmode="route" wp="p1"/>
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<deroute block="stay_p1"/>
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<deroute block="race"/>
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</block>
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<block name="raceline">
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<go from="raceA" hmode="route" wp="raceB"/>
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<go from="raceB" hmode="route" wp="raceA"/>
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<deroute block="raceline"/>
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</block>
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<block group="extra_pattern" name="Survey S1-S2 NS" strip_button="Svy-NS" strip_icon="survey.png">
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<call fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S2, sweep, NS)"/>
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@@ -67,26 +81,21 @@
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<call fun="nav_survey_rectangle_rotorcraft_setup(WP_S1, WP_S2, sweep, WE)"/>
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<deroute block="Survey RECTANGLE RUN"/>
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</block>
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<block group="extra_pattern" name="Survey Poly" strip_button="Svy-P">
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<call fun="nav_survey_poly_setup_towards(WP_corner_e, 4, sweep, WP_corner_s)"/>
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<deroute block="Survey Poly RUN"/>
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</block>
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<block group="extra_pattern" name="Survey RECTANGLE RUN" strip_button="Svy CONT">
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<exception cond="rectangle_survey_sweep_num >= 1" deroute="Standby"/>
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<call fun="nav_survey_rectangle_rotorcraft_run(WP_S1, WP_S2)"/>
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</block>
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<block group="extra_pattern" name="Survey Poly" strip_button="Svy-P">
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<call fun="nav_survey_poly_setup_towards(WP_S1, 4, sweep, WP_S4)"/>
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<deroute block="Survey Poly RUN"/>
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</block>
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<block group="extra_pattern" name="Survey Poly RUN" strip_button="Svy-P CONT">
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<exception cond="PolySurveySweepNum >= 10" deroute="Standby"/>
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<call fun="nav_survey_poly_run()"/>
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</block>
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<block name="circle CAM" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
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<block name="circle CV" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
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<circle radius="nav_radius" wp="CAM"/>
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</block>
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<block name="race">
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<go from="raceA" hmode="route" wp="raceB"/>
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<go from="raceB" hmode="route" wp="raceA"/>
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<deroute block="Standby"/>
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</block>
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<block name="land_here" strip_button="Land Here" strip_icon="land-right.png">
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<call fun="NavSetWaypointHere(WP_TD)"/>
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</block>
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