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[conf] example to test rotorcraft cam and dc stuff

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Felix Ruess
2014-11-25 15:02:49 +01:00
parent a55a7eaff9
commit 5be90ed439
2 changed files with 98 additions and 0 deletions
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conf/airframes/examples/quadrotor_navgo.xml
+8
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@@ -5,6 +5,10 @@
<modules main_freq="512"> <modules main_freq="512">
<load name="servo_switch.xml"/> <load name="servo_switch.xml"/>
<load name="rotorcraft_cam.xml"/> <load name="rotorcraft_cam.xml"/>
<load name="digital_cam.xml">
<!-- AUX1 -->
<define name="DC_SHUTTER_GPIO" value="GPIOA,GPIO7"/>
</load>
</modules> </modules>
<firmware name="rotorcraft"> <firmware name="rotorcraft">
@@ -237,6 +241,10 @@
<define name="DEFAULT_MODE" value="ROTORCRAFT_CAM_MODE_MANUAL"/> <define name="DEFAULT_MODE" value="ROTORCRAFT_CAM_MODE_MANUAL"/>
</section> </section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="5" unit="meter"/>
</section>
<section name="SERVO_SWITCH"> <section name="SERVO_SWITCH">
<define name="SERVO_SWITCH_SERVO" value="DROP"/> <define name="SERVO_SWITCH_SERVO" value="DROP"/>
<define name="SERVO_SWITCH_ON_VALUE" value="SERVO_DROP_MIN"/> <define name="SERVO_SWITCH_ON_VALUE" value="SERVO_DROP_MIN"/>
conf/flight_plans/rotorcraft_cam.xml
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@@ -0,0 +1,90 @@
<!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="150" name="Rotorcraft Cam test (Enac)" security_height="2">
<header>
#include "autopilot.h"
</header>
<waypoints>
<waypoint name="HOME" x="0.0" y="0.0"/>
<waypoint name="CLIMB" x="0.0" y="5.0"/>
<waypoint name="STDBY" x="-2.0" y="-5.0"/>
<waypoint name="p1" x="22.4" y="-15.9"/>
<waypoint name="p2" x="60.5" y="-71.6"/>
<waypoint name="p3" x="43.1" y="-83.1"/>
<waypoint name="p4" x="2.7" y="-26.7"/>
<waypoint height="2." name="CAM" x="-20" y="-50"/>
<waypoint name="TD" x="5.6" y="-10.9"/>
</waypoints>
<blocks>
<block name="Wait GPS">
<call fun="NavKillThrottle()"/>
<while cond="!GpsFixValid()"/>
</block>
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 10)"/>
<call fun="NavSetGroundReferenceHere()"/>
</block>
<block name="Holding point">
<call fun="NavKillThrottle()"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
<block name="Start Engine">
<call fun="NavResurrect()"/>
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
<exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
<stay climb="0.5" vmode="climb" wp="CLIMB"/>
</block>
<block name="Standby" strip_button="Standby" strip_icon="home.png">
<stay wp="STDBY"/>
</block>
<block name="stay_p1">
<stay wp="p1"/>
</block>
<block name="go_p2">
<call fun="nav_set_heading_deg(90)"/>
<go wp="p2"/>
<deroute block="stay_p1"/>
</block>
<block name="line_p1_p2">
<go from="p1" hmode="route" wp="p2"/>
<stay until="stage_time>10" wp="p2"/>
<go from="p2" hmode="route" wp="p1"/>
<deroute block="stay_p1"/>
</block>
<block name="route dc shoot">
<go wp="p1"/>
<set value="DC_AUTOSHOOT_DISTANCE" var="dc_autoshoot"/>
<go from="p1" hmode="route" wp="p2"/>
<go from="p2" hmode="route" wp="p3"/>
<go from="p3" hmode="route" wp="p4"/>
<go from="p4" hmode="route" wp="p1"/>
<set value="DC_AUTOSHOOT_STOP" var="dc_autoshoot"/>
<deroute block="stay_p1"/>
</block>
<block name="circle CAM" pre_call="nav_set_heading_towards_waypoint(WP_CAM)">
<set value="25" var="nav_radius"/>
<call fun="dc_Circle(30)"/>
<circle radius="nav_radius" until="NavCircleCount() > 1.0" wp="CAM"/>
<call fun="dc_stop()"/>
<deroute block="Standby"/>
</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="TD"/>
</block>
<block name="flare">
<exception cond="NavDetectGround()" deroute="Holding point"/>
<exception cond="!nav_is_in_flight()" deroute="landed"/>
<call fun="NavStartDetectGround()"/>
<stay climb="-0.8" vmode="climb" wp="TD"/>
</block>
<block name="landed">
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
</block>
</blocks>
</flight_plan>