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booz FP with joystick

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This commit is contained in:
Gautier Hattenberger
2009-10-19 12:48:28 +00:00
parent 9efe961647
commit 45ec1b1ebd
1 changed files with 18 additions and 6 deletions
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conf/flight_plans/booz_test_2.xml
+18 -6
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@@ -1,14 +1,18 @@
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan alt="152" ground_alt="147" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="400" name="Booz Test Enac" security_height="2">
<header>
#include "booz_fms.h"
</header>
<waypoints>
<waypoint name="HOME" x="0.0" y="0.0"/>
<waypoint name="CLIMB" x="0.0" y="5.0"/>
<waypoint name="p1" x="3.6" y="-13.9"/>
<waypoint name="p2" x="27.5" y="-48.2"/>
<waypoint name="p3" x="16.7" y="-19.6"/>
<waypoint name="p4" x="13.7" y="-40.7" height="6."/>
<waypoint name="p4" x="13.7" y="-40.7"/>
<waypoint name="CAM" x="-20" y="-50" height="2."/>
<waypoint name="TD" x="5.6" y="-10.9"/>
</waypoints>
<blocks>
<block name="Wait GPS">
@@ -18,6 +22,7 @@
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 10)"/>
<call fun="NavSetGroundReferenceHere()"/>
<!--<call fun="NavSetAltitudeReferenceHere()"/>-->
</block>
<block name="Holding point">
<call fun="NavKillThrottle()"/>
@@ -30,11 +35,10 @@
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<exception cond="booz_ins_enu_pos.z > POS_BFP_OF_REAL(2.)" deroute="Standby"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
<while cond="LessThan(NavBlockTime(), 3)"/>
<stay height="4.0" vmode="alt" wp="CLIMB"/>
<stay vmode="climb" climb="0.5" wp="CLIMB"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<stay height="4.0" vmode="alt" wp="HOME"/>
<stay wp="HOME"/>
</block>
<block name="stay_p1">
<stay wp="p1"/>
@@ -57,13 +61,21 @@
<block name="circle">
<circle radius="nav_radius" wp="p1"/>
</block>
<block name="Joystick" pre_call="NavUpdateWPFromFms(WP_p1)">
<set var="fms.enabled" value="TRUE"/>
<call fun="NavSetWaypointHere(WP_p1)"/>
<stay wp="p1"/>
</block>
<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
<call fun="NavSetWaypointHere(WP_TD)"/>
</block>
<block name="land">
<go wp="HOME"/>
<go wp="TD"/>
</block>
<block name="flare">
<exception cond="NavDetectGround()" deroute="Holding point"/>
<call fun="NavStartDetectGround()"/>
<stay climb="-0.8" vmode="climb" wp="HOME"/>
<stay climb="-0.8" vmode="climb" wp="TD"/>
</block>
</blocks>
</flight_plan>