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add procedure example

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This commit is contained in:
Pascal Brisset
2009-08-30 19:35:19 +00:00
parent 74dc68765b
commit 757a706ad4
2 changed files with 60 additions and 59 deletions
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conf/flight_plans/EMAV2009.xml
+7 -59
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@@ -1,54 +1,23 @@
<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan alt="54" ground_alt="0" lat0="52.3825204" lon0="5.897420" max_dist_from_home="1500" name="EMAV09" security_height="50">
<flight_plan alt="100" ground_alt="54" lat0="52.3825204" lon0="5.897420" max_dist_from_home="1500" name="EMAV09" security_height="25">
<header>
#include "datalink.h"
</header>
<waypoints>
<waypoint name="HOME" x="0" y="0"/>
<waypoint name="STDBY" x="96.2" y="-36.2"/>
<waypoint lat="52.39223341391188" lon="5.891920215186895" name="G1"/>
<waypoint lat="52.38457192890880" lon="5.905759083500732" name="G2"/>
<waypoint lat="52.37522867761314" lon="5.891055906501672" name="G3"/>
<waypoint lat="52.38389131932532" lon="5.876775757075523" name="G4"/>
<waypoint lat="52.39502349675812" lon="5.890603491493776" name="R1"/>
<waypoint lat="52.38568420330603" lon="5.907529980510587" name="R2"/>
<waypoint lat="52.37341656154337" lon="5.888204759419744" name="R3"/>
<waypoint lat="52.38371772691826" lon="5.870010280721401" name="R4"/>
<waypoint lat="52.38833565818008" lon="5.888958356099608" name="S1"/>
<waypoint lat="52.38741511939426" lon="5.896820110526804" name="S2"/>
<waypoint lat="52.38344448233852" lon="5.895558989657886" name="S3"/>
<waypoint lat="52.38442017389706" lon="5.887661800773984" name="S4"/>
<waypoint lat="52.38117866835545" lon="5.897949813109249" name="E1"/>
<waypoint lat="52.38219156830098" lon="5.890795873256735" name="E2"/>
<waypoint name="1" x="34.6" y="-31.9"/>
<waypoint name="2" x="174.3" y="79.9"/>
<waypoint name="MOB" x="418.5" y="208.7"/>
<waypoint alt="80.0" name="AF" x="236.8" y="3.1"/>
<waypoint alt="52.0" name="TD" x="162.4" y="-66.0"/>
<waypoint name="_BASELEG" x="367.5" y="255.8"/>
<waypoint alt="104.0" name="CLIMB" x="-0.2" y="-97.2"/>
</waypoints>
<sectors>
<sector name="Red">
<corner name="R1"/>
<corner name="R2"/>
<corner name="R3"/>
<corner name="R4"/>
</sector>
<sector name="Green">
<corner name="G1"/>
<corner name="G2"/>
<corner name="G3"/>
<corner name="G4"/>
</sector>
<sector name="Search">
<corner name="S1"/>
<corner name="S2"/>
<corner name="S3"/>
<corner name="S4"/>
</sector>
</sectors>
<includes>
<include name="Safety" procedure="EMAV2009_safety.xml"/>
<include name="L" procedure="landing.xml"/>
</includes>
<exceptions/>
<blocks>
<block name="Holding point">
@@ -72,26 +41,5 @@
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<circle radius="nav_radius" wp="MOB"/>
</block>
<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="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"/>
</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>
</flight_plan>
conf/flight_plans/EMAV2009_safety.xml
+53
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@@ -0,0 +1,53 @@
<!DOCTYPE procedure SYSTEM "flight_plan.dtd">
<procedure>
<waypoints>
<waypoint lat="52.38252048723831" lon="5.897420494955952" name="_CENTER" alt="100"/>
<waypoint lat="52.39223341391188" lon="5.891920215186895" name="_G1"/>
<waypoint lat="52.38457192890880" lon="5.905759083500732" name="_G2"/>
<waypoint lat="52.37522867761314" lon="5.891055906501672" name="_G3"/>
<waypoint lat="52.38389131932532" lon="5.876775757075523" name="_G4"/>
<waypoint lat="52.39502349675812" lon="5.890603491493776" name="_R1"/>
<waypoint lat="52.38568420330603" lon="5.907529980510587" name="_R2"/>
<waypoint lat="52.37341656154337" lon="5.888204759419744" name="_R3"/>
<waypoint lat="52.38371772691826" lon="5.870010280721401" name="_R4"/>
<waypoint lat="52.38833565818008" lon="5.888958356099608" name="_S1"/>
<waypoint lat="52.38741511939426" lon="5.896820110526804" name="_S2"/>
<waypoint lat="52.38344448233852" lon="5.895558989657886" name="_S3"/>
<waypoint lat="52.38442017389706" lon="5.887661800773984" name="_S4"/>
<waypoint lat="52.38117866835545" lon="5.897949813109249" name="E1"/>
<waypoint lat="52.38219156830098" lon="5.890795873256735" name="E2"/>
</waypoints>
<sectors>
<sector name="Red" color="red">
<corner name="_R1"/>
<corner name="_R2"/>
<corner name="_R3"/>
<corner name="_R4"/>
</sector>
<sector name="Green" color="green">
<corner name="_G1"/>
<corner name="_G2"/>
<corner name="_G3"/>
<corner name="_G4"/>
</sector>
<sector name="Search">
<corner name="_S1"/>
<corner name="_S2"/>
<corner name="_S3"/>
<corner name="_S4"/>
</sector>
</sectors>
<exceptions>
<exception cond="Or(! InsideGreen(estimator_x, estimator_y), estimator_z > ground_alt + 150)" deroute="Center"/>
</exceptions>
<blocks>
<block name="Center" pre_call="if (And(!kill_throttle, !InsideRed(estimator_x, estimator_y))) kill_throttle=TRUE;">
<circle wp="_CENTER" radius="DEFAULT_CIRCLE_RADIUS"/>
</block>
</blocks>
</procedure>