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Martin Mueller
2009-03-14 15:57:44 +00:00
parent 73adf64afd
commit 4ef46fb62d
1 changed files with 12 additions and 4 deletions
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conf/flight_plans/grosslobke_demo.xml
+12 -4
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@@ -75,12 +75,20 @@
</block>
<block NAME="down" strip_button="Down">
<attitude roll="0" pitch="0.1" vmode="throttle" throttle="0" until="(estimator_flight_time > 1)"/>
<set var="lateral_mode" value="LATERAL_MODE_ROLL"/>
<set var="v_ctl_mode" value="V_CTL_MODE_MANUAL"/>
<set value="TRUE" var="h_ctl_disabled"/>
<set value="(-0.9*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
<while cond="estimator_z > 210"/>
<set value="(-0.6*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
<set value="(0.9*MAX_PPRZ)" var="h_ctl_elevator_setpoint"/>
<while cond="estimator_z > ground_alt + 220"/>
<set value="0" var="h_ctl_aileron_setpoint"/>
<while cond="2.> stage_time"/>
<set value="0" var="h_ctl_elevator_setpoint"/>
<!--deroute block="down_end"/-->
</block>
<block NAME="down_end" strip_button="DownEnd">
<set value="0" var="h_ctl_aileron_setpoint"/>
<set value="0" var="h_ctl_elevator_setpoint"/>
<while cond="1.> stage_time"/>
<set value="FALSE" var="h_ctl_disabled"/>
<deroute block="wait"/>
</block>