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Pascal Brisset
2006-07-17 12:05:27 +00:00
parent 898615bc95
commit 7fe713213e
1 changed files with 73 additions and 0 deletions
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conf/flight_plans/EMAV2006.xml
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<flight_plan ALT="450" GROUND_ALT="400" LAT0="52.524064" LON0="10.463673" MAX_DIST_FROM_HOME="1500" NAME="Generic" QFU="270" SECURITY_HEIGHT="25">
<dl_settings>
<dl_settings NAME="flight params">
<dl_setting MAX="2" MIN="0" STEP="1" VAR="light_mode"/>
<dl_setting MAX="1000" MIN="-50" STEP="10" VAR="altitude_shift"/>
</dl_settings>
<dl_settings NAME="mode">
<dl_setting MAX="1." MIN="0." STEP="1" VAR="z_constrast_mode"/>
<dl_setting MAX="1." MIN="0." STEP="1" VAR="rate_mode"/>
<dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode"/>
</dl_settings>
<dl_settings NAME="control">
<dl_settings NAME="attitude">
<dl_setting MAX="0.3" MIN="-0.3" STEP="0.01" VAR="ir_roll_neutral"/>
<dl_setting MAX="0.5" MIN="-0.3" STEP="0.01" VAR="ir_pitch_neutral"/>
<dl_setting MAX="15000" MIN="1000" STEP="250" VAR="roll_pgain"/>
<dl_setting MAX="15000" MIN="1000" STEP="250" VAR="pitch_pgain"/>
</dl_settings>
<dl_settings NAME="nav">
<dl_setting MAX="0.7" MIN="0.3" STEP="0.05" VAR="climb_level_gaz"/>
<dl_setting MAX="-0.01" MIN="-0.5" STEP="0.01" VAR="climb_pgain"/>
<dl_setting MAX="-0.1" MIN="-2" STEP="0.05" VAR="course_pgain"/>
</dl_settings>
</dl_settings>
</dl_settings>
<waypoints>
<waypoint NAME="HOME" X="0" Y="0"/>
<waypoint NAME="A" X="0" Y="0"/>
<waypoint alt="450." name="B" x="82.9603178315" y="-3.44895799179"/>
<waypoint alt="450." name="C" x="86.9956299706" y="227.662798247"/>
<waypoint alt="450." name="D" x="-108.527546108" y="262.062632462"/>
<waypoint alt="450." name="E" x="-245.588237877" y="118.201662172"/>
<waypoint alt="450." name="F" x="-158.056513049" y="13.8008157052"/>
<waypoint alt="450." name="NW" x="-280.219926928" y="90.5064002601"/>
<waypoint alt="450." name="SW" x="-284.808277054" y="9.73393593822"/>
<waypoint alt="450." name="SE" x="109.180675329" y="-13.3149076775"/>
<waypoint alt="450." name="NE" x="108.972349582" y="73.5673930021"/>
</waypoints>
<blocks>
<block NAME="wait GPS">
<while COND="!GPS_FIX_VALID(gps_mode)"/>
</block>
<block NAME="init">
<while COND="10 > block_time"/>
<set VALUE="reset_nav_reference()" VAR="unit"/>
<set VALUE="reset_waypoints()" VAR="unit"/>
<deroute BLOCK="circlehome"/>
</block>
<block NAME="circlehome">
<circle RADIUS="-50" WP="HOME" wp_dist="50" wp_qdr="0"/>
</block>
<block NAME="ABCDEFAFEDCBA">
<go wp="A" approaching_time="1"/>
<go from="A" hmode="route" wp="B" approaching_time="1"/>
<go from="B" hmode="route" wp="C" approaching_time="1"/>
<go from="C" hmode="route" wp="D" approaching_time="1"/>
<go from="D" hmode="route" wp="E" approaching_time="1"/>
<go from="E" hmode="route" wp="F" approaching_time="1"/>
<go from="F" hmode="route" wp="A" approaching_time="1"/>
<go wp="A" wp_dist="20" wp_qdr="0"/>
<go from="A" hmode="route" wp="F" approaching_time="1"/>
<go from="F" hmode="route" wp="E" approaching_time="1"/>
<go from="E" hmode="route" wp="D" approaching_time="1"/>
<go from="D" hmode="route" wp="C" approaching_time="1"/>
<go from="C" hmode="route" wp="B" approaching_time="1"/>
<go from="B" hmode="route" wp="A" approaching_time="1"/>
</block>
<block name="Detection">
<go approaching_time="1" from="SW" wp="SE"/>
<go approaching_time="1" from="NE" wp="NW"/>
</block>
</blocks>
</flight_plan>