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Martin Mueller
2007-04-17 19:02:46 +00:00
parent a9d4eb9ff9
commit 79e8f613d6
1 changed files with 51 additions and 0 deletions
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conf/flight_plans/grosslobke_kreise.xml
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<flight_plan ALT="130" GROUND_ALT="68" LAT0="52.26483" LON0="9.99394" MAX_DIST_FROM_HOME="1500" NAME="Gross Lobke, verschiedene Kreise" QFU="270" SECURITY_HEIGHT="60">
<rc_control>
</rc_control>
<waypoints utm_x0="567831.0" utm_y0="5790955.0">
<waypoint alt="130." lat="52.2649866942" lon="9.99401677286" name="HOME" x="15.0" y="5.0"/>
<waypoint alt="130." name="1" x="-181.785735614" y="34.9692539535"/>
<waypoint alt="130." name="2" x="130.143368186" y="90.3661855655"/>
<waypoint alt="130." name="START" x="140.0885126006" y="35.7359798392"/>
<waypoint alt="130." name="CR" x="0.0885126006" y="73.7359798392"/>
<waypoint name="S1" x="-200" y="-200"/>
<waypoint name="S2" x="300" y="400"/>
</waypoints>
<blocks>
<block NAME="start">
<attitude roll="0" pitch="0.1" vmode="throttle" throttle="0.7" until="(estimator_flight_time > 5)"/>
<go wp="START"/>
</block>
<block NAME="east">
<go target="2" APPROACHING_TIME="2" HMODE="route" WP="2" from="1"/>
<deroute block="west"/>
</block>
<block NAME="west">
<go target="1" APPROACHING_TIME="2" HMODE="route" WP="1" from="2"/>
<deroute block="east"/>
</block>
<block NAME="east t">
<go target="2" APPROACHING_TIME="2" PITCH="auto" THROTTLE="0.55" HMODE="route" WP="2" from="1"/>
<deroute block="west t"/>
</block>
<block NAME="west t">
<go target="1" APPROACHING_TIME="2" PITCH="auto" THROTTLE="0.55" HMODE="route" WP="1" from="2"/>
<deroute block="east t"/>
</block>
<block NAME="clock">
<circle wp="CR" radius="90"/>
</block>
<block NAME="counter">
<circle wp="CR" radius="-90"/>
</block>
<block name="survey">
<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
</block>
<block NAME="roll" strip_button="Roll">
<set value="TRUE" var="h_ctl_disabled"/>
<set value="(-0.75*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
<while cond="3.> stage_time && (estimator_phi > 0 || -M_PI_2 > estimator_phi)"/>
<set value="FALSE" var="h_ctl_disabled"/>
<return/>
</block>
</blocks>
</flight_plan>