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Merge pull request #714

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For displaying AGL in GCS: use ground_alt from autopilot if no SRTM data available.

Please replace ground_alt with GetAltRef() in your fligh plans.

* nav_ref:
  [ground_alt] add GetAltRef() to FW nav and update flight plans
  [ground_alt] remove ground_alt from rotorcraft firmware
  [srtm] improving information messages about SRTM data
  [agl] fix waypoint edit box display and sim ground detect
  [agl] use ground_alt from autopilot if no SRTM data available
This commit is contained in:
Felix Ruess
2014-05-29 13:32:56 +02:00
parent 3ea96292a2 1207be9736
commit 80aabb4557
53 changed files with 181 additions and 157 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/flight_plans/EMAV2008.xml
+3 -3
View File
@@ -47,7 +47,7 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="GetPosAlt() > ground_alt+40" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+40" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<go wp="CLIMB"/>
</block>
@@ -86,11 +86,11 @@
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 15 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
</block>
<block name="final">
<!-- <exception cond="ground_alt + 6 > GetPosAlt()" deroute="flare"/> -->
<!-- <exception cond="GetAltRef() + 6 > GetPosAlt()" deroute="flare"/> -->
<go approaching_time="0" from="AF" hmode="route" wp="SF"/>
</block>
<block name="shortfinal">
<!-- <exception cond="ground_alt + 6 > GetPosAlt()" deroute="flare"/> -->
<!-- <exception cond="GetAltRef() + 6 > GetPosAlt()" deroute="flare"/> -->
<go approaching_time="0" from="SF" hmode="route" wp="TD"/>
</block>
<block name="flare">
conf/flight_plans/EMAV2009.xml
+1 -1
View File
@@ -26,7 +26,7 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="autopilot_flight_time"/>
<go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
conf/flight_plans/EMAV2009_safety.xml
+1 -1
View File
@@ -2,7 +2,7 @@
<procedure>
<exceptions>
<exception cond="Or(! InsideGreen(GetPosX(), GetPosY()), GetPosAlt() > ground_alt + 150)" deroute="Center"/>
<exception cond="Or(! InsideGreen(GetPosX(), GetPosY()), GetPosAlt() > GetAltRef() + 150)" deroute="Center"/>
</exceptions>
<blocks>
conf/flight_plans/IS.xml
+4 -4
View File
@@ -101,15 +101,15 @@
</block>
<block name="climb 75">
<circle radius="50+(GetPosAlt()-ground_alt)/2" wp="1" throttle="0.75" pitch="15" vmode="throttle" until="10 > PowerVoltage()"/>
<circle radius="50+(GetPosAlt()-GetAltRef())/2" wp="1" throttle="0.75" pitch="15" vmode="throttle" until="10 > PowerVoltage()"/>
</block>
<block name="climb 1">
<circle radius="50+(GetPosAlt()-ground_alt)/2" wp="1" climb="1" pitch="5" vmode="climb" until="10 > PowerVoltage()"/>
<circle radius="50+(GetPosAlt()-GetAltRef())/2" wp="1" climb="1" pitch="5" vmode="climb" until="10 > PowerVoltage()"/>
</block>
<block name="descent 0">
<circle radius="50+(GetPosAlt()-ground_alt)/2" wp="1" throttle="0.0" pitch="-15" vmode="throttle" until="ground_alt+50 > GetPosAlt()"/>
<circle radius="50+(GetPosAlt()-GetAltRef())/2" wp="1" throttle="0.0" pitch="-15" vmode="throttle" until="GetAltRef()+50 > GetPosAlt()"/>
<deroute block="wait"/>
</block>
@@ -147,7 +147,7 @@
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
conf/flight_plans/basic.xml
+2 -2
View File
@@ -35,7 +35,7 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png" group="home">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="autopilot_flight_time"/>
<go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB" pitch="15"/>
@@ -76,7 +76,7 @@
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
conf/flight_plans/corsica.xml
+4 -4
View File
@@ -21,7 +21,7 @@
</includes>
<exceptions>
<exception cond="Or(! InsideZRT(GetPosX(), GetPosY()), GetPosAlt() > ground_alt + 300)" deroute="Kill"/>
<exception cond="Or(! InsideZRT(GetPosX(), GetPosY()), GetPosAlt() > GetAltRef() + 300)" deroute="Kill"/>
</exceptions>
<blocks>
<block name="Wait GPS">
@@ -33,7 +33,7 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby Menton"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby Menton"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="autopilot_flight_time"/>
<go throttle="1.0" vmode="throttle" wp="CLIMB" pitch="15"/>
@@ -66,7 +66,7 @@
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10), 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
@@ -74,7 +74,7 @@
<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
</block>
<block name="Kill">
<exception cond="And(InsideZRT(GetPosX(), GetPosY()), ground_alt + 300 > GetPosAlt())" deroute="Resume Mission"/>
<exception cond="And(InsideZRT(GetPosX(), GetPosY()), GetAltRef() + 300 > GetPosAlt())" deroute="Resume Mission"/>
<attitude roll="0" vmode="throttle" throttle="0.2"/>
</block>
<block name="Resume Mission">
conf/flight_plans/creidlitz.xml
+2 -2
View File
@@ -33,7 +33,7 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="autopilot_flight_time"/>
<go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB"/>
@@ -45,7 +45,7 @@
<circle radius="nav_radius" wp="PROFILE"/>
</block>
<block name="profile_down" strip_button="Profile Down" strip_icon="down_profile.png">
<circle pitch="RadOfDeg(-10)" radius="nav_radius" throttle="0" until="(ground_alt+150 > GetPosAlt())" vmode="throttle" wp="PROFILE"/>
<circle pitch="RadOfDeg(-10)" radius="nav_radius" throttle="0" until="(GetAltRef()+150 > GetPosAlt())" vmode="throttle" wp="PROFILE"/>
<deroute block="Standby"/>
</block>
<block name="MOB" strip_button="Circle around here" strip_icon="mob.png">
conf/flight_plans/fp_tp_auto.xml
+7 -7
View File
@@ -44,7 +44,7 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="Takeoff" strip_icon="takeoff.png" strip_button="Takeoff (wp CLIMB)">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<go wp="CLIMB"/>
</block>
@@ -65,19 +65,19 @@
<circle pitch="auto" radius="75" throttle="0.7" wp="1"/>
</block>
<block name="Climb 75% throttle">
<circle pitch="10" radius="50+(GetPosAlt()-ground_alt)/2" throttle="0.75" until="(10 > PowerVoltage()) || (GetPosAlt() > ground_alt+ 1350)" vmode="throttle" wp="1"/>
<circle pitch="10" radius="50+(GetPosAlt()-GetAltRef())/2" throttle="0.75" until="(10 > PowerVoltage()) || (GetPosAlt() > GetAltRef()+ 1350)" vmode="throttle" wp="1"/>
</block>
<block name="Climb 0m/s">
<circle climb="0" radius="nav_radius" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
</block>
<block name="Climb 1m/s">
<circle climb="1" radius="50+(GetPosAlt()-ground_alt)/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
<circle climb="1" radius="50+(GetPosAlt()-GetAltRef())/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
</block>
<block name="Climb nav_climb m/s">
<circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (GetPosAlt() > ground_alt+ 1350)" vmode="climb" wp="1"/>
<circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (GetPosAlt() > GetAltRef()+ 1350)" vmode="climb" wp="1"/>
</block>
<block name="Descent 0% throttle">
<circle pitch="-5" radius="50+(GetPosAlt()-ground_alt)/2" throttle="0.0" until="ground_alt+50 > GetPosAlt()" vmode="throttle" wp="1"/>
<circle pitch="-5" radius="50+(GetPosAlt()-GetAltRef())/2" throttle="0.0" until="GetAltRef()+50 > GetPosAlt()" vmode="throttle" wp="1"/>
<deroute block="Standby"/>
</block>
<block name="Route 1-2">
@@ -114,7 +114,7 @@
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
@@ -140,7 +140,7 @@
</while>
</block>
<block name="Heading 30">
<heading alt="ground_alt+50" course="30" until="FALSE"/>
<heading alt="GetAltRef()+50" course="30" until="FALSE"/>
</block>
</blocks>
</flight_plan>
conf/flight_plans/generic.xml
+1 -1
View File
@@ -24,7 +24,7 @@
<circle radius="-75" wp="HOME"/>
</block>
<block name="climb 75">
<circle radius="50+(GetPosAlt()-ground_alt)/2" wp="1" throttle="0.75" pitch="15" vmode="throttle" until="10>PowerVoltage()"/>
<circle radius="50+(GetPosAlt()-GetAltRef())/2" wp="1" throttle="0.75" pitch="15" vmode="throttle" until="10>PowerVoltage()"/>
</block>
<block name="stack 1">
<circle radius="GetPosAlt()/2" wp="1"/>
conf/flight_plans/grosslobke_demo.xml
+2 -2
View File
@@ -53,7 +53,7 @@
<set value="TRUE" var="h_ctl_disabled"/>
<set value="(-0.6*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
<set value="(0.9*MAX_PPRZ)" var="h_ctl_elevator_setpoint"/>
<while cond="GetPosAlt() > ground_alt + 220"/>
<while cond="GetPosAlt() > GetAltRef() + 220"/>
<set value="0" var="h_ctl_aileron_setpoint"/>
<set value="0" var="h_ctl_elevator_setpoint"/>
</block>
@@ -78,7 +78,7 @@
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 20 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
conf/flight_plans/hsif.xml
+1 -1
View File
@@ -18,7 +18,7 @@
<call fun="NavSetGroundReferenceHere()"/>
</block>
<block name="Takeoff">
<exception cond="GetPosAlt() > ground_alt+25" deroute="HSIF"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="HSIF"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="autopilot_flight_time"/>
<go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
conf/flight_plans/ingolfsskali.xml
+4 -4
View File
@@ -58,22 +58,22 @@
</block>
<block name="profile">
<for from="1" to="5" var="i">
<circle alt="ground_alt+50* $i" radius="nav_radius" until="stage_time>120" wp="1"/>
<circle alt="GetAltRef()+50* $i" radius="nav_radius" until="stage_time>120" wp="1"/>
</for>
</block>
<block name="climb">
<circle radius="nav_radius" wp="CLIMB"/>
</block>
<block name="descent">
<circle radius="nav_radius" wp="CLIMB" vmode="throttle" throttle="0" pitch="RadOfDeg(my_nav_pitch)" until="(ground_alt+150 > GetPosAlt())"/>
<circle radius="nav_radius" wp="CLIMB" vmode="throttle" throttle="0" pitch="RadOfDeg(my_nav_pitch)" until="(GetAltRef()+150 > GetPosAlt())"/>
<deroute block="wait"/>
</block>
<block name="wind">
<attitude pitch="RadOfDeg(my_nav_pitch)" roll="my_nav_roll" throttle="0.0" until="(ground_alt+150 > GetPosAlt())" vmode="throttle"/>
<attitude pitch="RadOfDeg(my_nav_pitch)" roll="my_nav_roll" throttle="0.0" until="(GetAltRef()+150 > GetPosAlt())" vmode="throttle"/>
<deroute block="wait"/>
</block>
<block name="wait" strip_button="Wait">
<circle radius="nav_radius" wp="CLIMB" alt="ground_alt+200"/>
<circle radius="nav_radius" wp="CLIMB" alt="GetAltRef()+200"/>
</block>
<block name="roll">
<set value="TRUE" var="h_ctl_disabled"/>
conf/flight_plans/joystick.xml
+2 -2
View File
@@ -33,7 +33,7 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="autopilot_flight_time"/>
<go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB" pitch="15"/>
@@ -82,7 +82,7 @@
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
conf/flight_plans/kalscott.xml
+31 -31
View File
@@ -26,48 +26,48 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Circle"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Circle"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="autopilot_flight_time"/>
<go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB" pitch="15"/>
</block>
<block name="Circle" strip_button="Circle" strip_icon="home.png">
<circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+200" until="GetPosAlt() > ground_alt+195"/>
<circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+200" until="NavCircleCount() > 2"/>
<circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+300" until="GetPosAlt() > ground_alt+295"/>
<circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+300" until="NavCircleCount() > 2"/>
<circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+400" until="GetPosAlt() > ground_alt+395"/>
<circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+400" until="NavCircleCount() > 2"/>
<circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+300" until="ground_alt+305 > GetPosAlt()"/>
<circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+300" until="NavCircleCount() > 2"/>
<circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+200" until="ground_alt+205 > GetPosAlt()"/>
<circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+200" until="NavCircleCount() > 2"/>
<circle radius="nav_radius" wp="CIRCLE" alt="GetAltRef()+200" until="GetPosAlt() > GetAltRef()+195"/>
<circle radius="nav_radius" wp="CIRCLE" alt="GetAltRef()+200" until="NavCircleCount() > 2"/>
<circle radius="nav_radius" wp="CIRCLE" alt="GetAltRef()+300" until="GetPosAlt() > GetAltRef()+295"/>
<circle radius="nav_radius" wp="CIRCLE" alt="GetAltRef()+300" until="NavCircleCount() > 2"/>
<circle radius="nav_radius" wp="CIRCLE" alt="GetAltRef()+400" until="GetPosAlt() > GetAltRef()+395"/>
<circle radius="nav_radius" wp="CIRCLE" alt="GetAltRef()+400" until="NavCircleCount() > 2"/>
<circle radius="nav_radius" wp="CIRCLE" alt="GetAltRef()+300" until="GetAltRef()+305 > GetPosAlt()"/>
<circle radius="nav_radius" wp="CIRCLE" alt="GetAltRef()+300" until="NavCircleCount() > 2"/>
<circle radius="nav_radius" wp="CIRCLE" alt="GetAltRef()+200" until="GetAltRef()+205 > GetPosAlt()"/>
<circle radius="nav_radius" wp="CIRCLE" alt="GetAltRef()+200" until="NavCircleCount() > 2"/>
<deroute block="Circle"/>
</block>
<block name="Racetrack E-W" strip_button="Racetrack E-W" strip_icon="oval.png">
<oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+200" until="GetPosAlt() > ground_alt+195"/>
<oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+200" until="nav_oval_count > 2"/>
<oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+300" until="GetPosAlt() > ground_alt+295"/>
<oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+300" until="nav_oval_count > 2"/>
<oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+400" until="GetPosAlt() > ground_alt+395"/>
<oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+400" until="nav_oval_count > 2"/>
<oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+300" until="ground_alt+305 > GetPosAlt()"/>
<oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+300" until="nav_oval_count > 2"/>
<oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+200" until="ground_alt+205 > GetPosAlt()"/>
<oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+200" until="nav_oval_count > 2"/>
<oval p1="1" p2="2" radius="nav_radius" alt="GetAltRef()+200" until="GetPosAlt() > GetAltRef()+195"/>
<oval p1="1" p2="2" radius="nav_radius" alt="GetAltRef()+200" until="nav_oval_count > 2"/>
<oval p1="1" p2="2" radius="nav_radius" alt="GetAltRef()+300" until="GetPosAlt() > GetAltRef()+295"/>
<oval p1="1" p2="2" radius="nav_radius" alt="GetAltRef()+300" until="nav_oval_count > 2"/>
<oval p1="1" p2="2" radius="nav_radius" alt="GetAltRef()+400" until="GetPosAlt() > GetAltRef()+395"/>
<oval p1="1" p2="2" radius="nav_radius" alt="GetAltRef()+400" until="nav_oval_count > 2"/>
<oval p1="1" p2="2" radius="nav_radius" alt="GetAltRef()+300" until="GetAltRef()+305 > GetPosAlt()"/>
<oval p1="1" p2="2" radius="nav_radius" alt="GetAltRef()+300" until="nav_oval_count > 2"/>
<oval p1="1" p2="2" radius="nav_radius" alt="GetAltRef()+200" until="GetAltRef()+205 > GetPosAlt()"/>
<oval p1="1" p2="2" radius="nav_radius" alt="GetAltRef()+200" until="nav_oval_count > 2"/>
<deroute block="Racetrack E-W"/>
</block>
<block name="Racetrack N-S" strip_button="Racetrack N-S" strip_icon="oval.png">
<oval p1="2" p2="3" radius="nav_radius" alt="ground_alt+200" until="GetPosAlt() > ground_alt+195"/>
<oval p1="2" p2="3" radius="nav_radius" alt="ground_alt+200" until="nav_oval_count > 2"/>
<oval p1="2" p2="3" radius="nav_radius" alt="ground_alt+300" until="GetPosAlt() > ground_alt+295"/>
<oval p1="2" p2="3" radius="nav_radius" alt="ground_alt+300" until="nav_oval_count > 2"/>
<oval p1="2" p2="3" radius="nav_radius" alt="ground_alt+400" until="GetPosAlt() > ground_alt+395"/>
<oval p1="2" p2="3" radius="nav_radius" alt="ground_alt+400" until="nav_oval_count > 2"/>
<oval p1="2" p2="3" radius="nav_radius" alt="ground_alt+300" until="ground_alt+305 > GetPosAlt()"/>
<oval p1="2" p2="3" radius="nav_radius" alt="ground_alt+300" until="nav_oval_count > 2"/>
<oval p1="2" p2="3" radius="nav_radius" alt="ground_alt+200" until="ground_alt+305 > GetPosAlt()"/>
<oval p1="2" p2="3" radius="nav_radius" alt="ground_alt+200" until="nav_oval_count > 2"/>
<oval p1="2" p2="3" radius="nav_radius" alt="GetAltRef()+200" until="GetPosAlt() > GetAltRef()+195"/>
<oval p1="2" p2="3" radius="nav_radius" alt="GetAltRef()+200" until="nav_oval_count > 2"/>
<oval p1="2" p2="3" radius="nav_radius" alt="GetAltRef()+300" until="GetPosAlt() > GetAltRef()+295"/>
<oval p1="2" p2="3" radius="nav_radius" alt="GetAltRef()+300" until="nav_oval_count > 2"/>
<oval p1="2" p2="3" radius="nav_radius" alt="GetAltRef()+400" until="GetPosAlt() > GetAltRef()+395"/>
<oval p1="2" p2="3" radius="nav_radius" alt="GetAltRef()+400" until="nav_oval_count > 2"/>
<oval p1="2" p2="3" radius="nav_radius" alt="GetAltRef()+300" until="GetAltRef()+305 > GetPosAlt()"/>
<oval p1="2" p2="3" radius="nav_radius" alt="GetAltRef()+300" until="nav_oval_count > 2"/>
<oval p1="2" p2="3" radius="nav_radius" alt="GetAltRef()+200" until="GetAltRef()+305 > GetPosAlt()"/>
<oval p1="2" p2="3" radius="nav_radius" alt="GetAltRef()+200" until="nav_oval_count > 2"/>
<deroute block="Racetrack N-S"/>
</block>
</blocks>
conf/flight_plans/kv_svalbard.xml
+2 -2
View File
@@ -35,7 +35,7 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="autopilot_flight_time"/>
<go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB"/>
@@ -47,7 +47,7 @@
<circle radius="nav_radius" wp="PROFILE"/>
</block>
<block name="profile_down" strip_button="Profile Down" strip_icon="down_profile.png">
<circle radius="nav_radius" wp="PROFILE" vmode="throttle" throttle="0" pitch="RadOfDeg(-10)" until="(ground_alt+150 > GetPosAlt())"/>
<circle radius="nav_radius" wp="PROFILE" vmode="throttle" throttle="0" pitch="RadOfDeg(-10)" until="(GetAltRef()+150 > GetPosAlt())"/>
<deroute block="Standby"/>
</block>
<block name="MOB" strip_button="Circle around here" strip_icon="mob.png">
conf/flight_plans/landing.xml
+2 -2
View File
@@ -21,8 +21,8 @@
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD" alt="ground_alt"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD" alt="GetAltRef()"/>
</block>
<block name="flare">
<go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
conf/flight_plans/mav06.xml
+2 -2
View File
@@ -32,7 +32,7 @@
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go alt="baseleg_alt" approaching_time="16" from="AF" hmode="route" wp="TD"/>
<go approaching_time="2" from="AF" hmode="route" throttle="0.1" vmode="throttle" wp="TD"/>
</block>
@@ -48,7 +48,7 @@
</block>
<block name="climb">
<exception cond=" GetPosAlt() > ground_alt +30" deroute="wait"/>
<exception cond=" GetPosAlt() > GetAltRef() +30" deroute="wait"/>
<attitude pitch="15" roll="0" throttle="0.8" until="10> stage_time" vmode="throttle"/>
</block>-->
<block name="wait" strip_button="Wait">
conf/flight_plans/mav07.xml
+2 -2
View File
@@ -72,7 +72,7 @@
</while>
</block>
<block name="takeoff">
<exception cond="GetPosAlt() > ground_alt + 25" deroute="standby"/>
<exception cond="GetPosAlt() > GetAltRef() + 25" deroute="standby"/>
<set value="0" var="kill_throttle"/>
<go wp="TAKEOFF"/>
</block>
@@ -132,7 +132,7 @@
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<call fun="compute_TOD(WP_AF, WP_TD, WP_TOD, GLIDE_AIRSPEED, GLIDE_VSPEED)"/>
<go approaching_time="0" from="AF" hmode="route" wp="TOD"/>
<go from="TOD" hmode="route" pitch="stage_time*(GLIDE_PITCH/3)" throttle="0" vmode="throttle" wp="TD"/>
conf/flight_plans/mav08.xml
+2 -2
View File
@@ -41,7 +41,7 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="autopilot_flight_time"/>
<go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
@@ -100,7 +100,7 @@
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
conf/flight_plans/mission_fw.xml
+2 -2
View File
@@ -26,7 +26,7 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png" group="home">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="autopilot_flight_time"/>
<go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB" pitch="15"/>
@@ -52,7 +52,7 @@
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
conf/flight_plans/muret_demo_1.xml
+1 -1
View File
@@ -19,7 +19,7 @@
</while>
</block>
<block name="circle">
<circle wp="road_end" ALT="ground_alt+50" radius="75"/>
<circle wp="road_end" ALT="GetAltRef()+50" radius="75"/>
</block>
<block name="go too far">
<go wp="too far"/>
conf/flight_plans/muret_for.xml
+1 -1
View File
@@ -14,7 +14,7 @@
</block>
<block name="for">
<for from="0" to="3" var="i">
<circle alt="ground_alt+50+50*$i" radius="75" until="stage_time>10" wp="HOME"/>
<circle alt="GetAltRef()+50+50*$i" radius="75" until="stage_time>10" wp="HOME"/>
</for>
<circle wp="HOME" radius="50"/>
</block>
conf/flight_plans/nav_modules.xml
+3 -3
View File
@@ -50,7 +50,7 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block group="home" key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="autopilot_flight_time"/>
<go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
@@ -82,7 +82,7 @@
<call fun="nav_bungee_takeoff_run()"/>
</block>
<block group="nav_pattern" name="Poly Survey" strip_button="Poly Survey">
<call fun="nav_survey_polygon_setup(WP_S1,5,80,30,10,50,ground_alt+60)"/>
<call fun="nav_survey_polygon_setup(WP_S1,5,80,30,10,50,GetAltRef()+60)"/>
<call fun="nav_survey_polygon_run()"/>
</block>
<block group="nav_pattern" name="Border line 1-2" strip_button="Border Line">
@@ -130,7 +130,7 @@
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
conf/flight_plans/nordlys.xml
+3 -3
View File
@@ -37,7 +37,7 @@
<set value="TRUE" var="h_ctl_disabled"/>
<set value="(-0.6*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
<set value="(0.9*MAX_PPRZ)" var="h_ctl_elevator_setpoint"/>
<while cond="GetPosAlt() > ground_alt + 220"/>
<while cond="GetPosAlt() > GetAltRef() + 220"/>
<set value="0" var="h_ctl_aileron_setpoint"/>
<set value="0" var="h_ctl_elevator_setpoint"/>
</block>
@@ -70,7 +70,7 @@
<circle radius="nav_radius" wp="PROF_LAND"/>
</block>
<block name="profile_down land" strip_button="Profile Down Land" strip_icon="down_profile.png">
<circle pitch="RadOfDeg(-10)" radius="nav_radius" throttle="0" until="(ground_alt+100 > GetPosAlt())" vmode="throttle" wp="PROF_LAND"/>
<circle pitch="RadOfDeg(-10)" radius="nav_radius" throttle="0" until="(GetAltRef()+100 > GetPosAlt())" vmode="throttle" wp="PROF_LAND"/>
<deroute block="wait"/>
</block>
<block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
@@ -87,7 +87,7 @@
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 20 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
conf/flight_plans/poles.xml
+2 -2
View File
@@ -32,7 +32,7 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="autopilot_flight_time"/>
<go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
@@ -73,7 +73,7 @@
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
conf/flight_plans/rotorcraft_basic_safety.xml
+1 -1
View File
@@ -39,7 +39,7 @@
</sectors>
<exceptions>
<!-- Check inside Flight Area, then goto Standby -->
<exception cond="Or(!InsideFlight_Area(GetPosX(), GetPosY()), GetPosAlt() > ground_alt + 50) && !(nav_block == IndexOfBlock('Wait GPS')) && !(nav_block == IndexOfBlock('Geo init')) && !(nav_block == IndexOfBlock('Holding point')) && !(nav_block == IndexOfBlock('landed')) && !(nav_block == IndexOfBlock('Standby'))" deroute="Standby"/>
<exception cond="Or(!InsideFlight_Area(GetPosX(), GetPosY()), GetPosAlt() > GetAltRef() + 50) && !(nav_block == IndexOfBlock('Wait GPS')) && !(nav_block == IndexOfBlock('Geo init')) && !(nav_block == IndexOfBlock('Holding point')) && !(nav_block == IndexOfBlock('landed')) && !(nav_block == IndexOfBlock('Standby'))" deroute="Standby"/>
</exceptions>
<blocks>
<block name="Wait GPS">
conf/flight_plans/rotorcraft_basic_superbitrf.xml
+1 -1
View File
@@ -39,7 +39,7 @@
</sectors>
<exceptions>
<!-- Check inside small flight area, then goto Center(Standby) -->
<exception cond="Or(! InsideFlight_Area(GetPosX(), GetPosY()), GetPosAlt() > ground_alt + 50) && !(nav_block == BLOCK_Init) && !(nav_block == BLOCK_Geo_init) && !(nav_block == BLOCK_Landed)" deroute="Standby"/>
<exception cond="Or(! InsideFlight_Area(GetPosX(), GetPosY()), GetPosAlt() > GetAltRef() + 50) && !(nav_block == BLOCK_Init) && !(nav_block == BLOCK_Geo_init) && !(nav_block == BLOCK_Landed)" deroute="Standby"/>
<!-- Check if battery is empty, then Land Here -->
<exception cond="electrical.bat_low && !(nav_block == BLOCK_Land) && !(nav_block == BLOCK_Flare) && !(nav_block == BLOCK_Landed)" deroute="Land_Here"/>
<!-- Check if time is up(10 seconds range), then Land Here -->
conf/flight_plans/slayer_training.xml
+2 -2
View File
@@ -35,7 +35,7 @@
<deroute block="climb"/>
</block>
<block name="climb">
<attitude pitch="10" roll="0" throttle="0.9" until="GetPosAlt() > ground_alt+30" vmode="throttle"/>
<attitude pitch="10" roll="0" throttle="0.9" until="GetPosAlt() > GetAltRef()+30" vmode="throttle"/>
</block>
<block name="standby" strip_button="STDBY">
<circle radius="nav_radius" wp="STDBY"/>
@@ -77,7 +77,7 @@
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
conf/flight_plans/tcas.xml
+2 -2
View File
@@ -33,7 +33,7 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="autopilot_flight_time"/>
<go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB"/>
@@ -74,7 +74,7 @@
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
conf/flight_plans/versatile.xml
+9 -9
View File
@@ -45,7 +45,7 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="Takeoff" strip_icon="takeoff.png" strip_button="Takeoff (wp CLIMB)">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<go wp="CLIMB"/>
</block>
@@ -70,25 +70,25 @@
<circle pitch="auto" radius="75" throttle="0.7" wp="1"/>
</block>
<block name="Climb 75% throttle">
<circle pitch="10" radius="50+(GetPosAlt()-ground_alt)/2" throttle="0.75" until="(10 > PowerVoltage()) || (GetPosAlt() > ground_alt+ 1350)" vmode="throttle" wp="1"/>
<circle pitch="10" radius="50+(GetPosAlt()-GetAltRef())/2" throttle="0.75" until="(10 > PowerVoltage()) || (GetPosAlt() > GetAltRef()+ 1350)" vmode="throttle" wp="1"/>
</block>
<block name="Climb 0m/s">
<circle climb="0" radius="nav_radius" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
</block>
<block name="Climb 1m/s">
<circle climb="1" pitch="5" radius="50+(GetPosAlt()-ground_alt)/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
<circle climb="1" pitch="5" radius="50+(GetPosAlt()-GetAltRef())/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
</block>
<block name="Climb nav_climb m/s">
<circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (GetPosAlt() > ground_alt+ 1350)" vmode="climb" wp="1"/>
<circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (GetPosAlt() > GetAltRef()+ 1350)" vmode="climb" wp="1"/>
</block>
<block name="Circle 0% throttle">
<circle pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="ground_alt+50 > GetPosAlt()" vmode="throttle" wp="1"/>
<circle pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 > GetPosAlt()" vmode="throttle" wp="1"/>
<deroute block="Standby"/>
</block>
<block name="Oval 0% throttle">
<oval p1="1" p2="2" pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="ground_alt+50 > GetPosAlt()" vmode="throttle"/>
<oval p1="1" p2="2" pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 > GetPosAlt()" vmode="throttle"/>
<deroute block="Standby"/>
</block>
@@ -127,7 +127,7 @@
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
@@ -153,7 +153,7 @@
</while>
</block>
<block name="Heading 30">
<heading alt="ground_alt+50" course="30" until="FALSE"/>
<heading alt="GetAltRef()+50" course="30" until="FALSE"/>
</block>
<block name="For loop (circles wp 1)">
<for from="0" to="3" var="i">
@@ -168,7 +168,7 @@
</block>
<block name="Fly in Square">
<exception cond="! InsideSquare(GetPosX(), GetPosY())" deroute="Come back wp 1"/>
<attitude alt="ground_alt+75" roll="0" vmode="alt"/>
<attitude alt="GetAltRef()+75" roll="0" vmode="alt"/>
</block>
<block name="Come back wp 1">
<exception cond="InsideSquare(GetPosX(), GetPosY())" deroute="Fly in Square"/>
conf/flight_plans/versatile_airspeed.xml
+8 -8
View File
@@ -45,7 +45,7 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="Takeoff" strip_icon="takeoff.png" strip_button="Takeoff (wp CLIMB)">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<set value="CLIMB_AIRSPEED" var="v_ctl_auto_airspeed_setpoint" />
<go wp="CLIMB"/>
@@ -69,25 +69,25 @@
<circle pitch="auto" radius="75" throttle="0.7" wp="1"/>
</block>
<block name="Climb 75% throttle">
<circle pitch="10" radius="50+(GetPosAlt()-ground_alt)/2" throttle="0.75" until="(10 > PowerVoltage()) || (GetPosAlt() > ground_alt+ 1350)" vmode="throttle" wp="1"/>
<circle pitch="10" radius="50+(GetPosAlt()-GetAltRef())/2" throttle="0.75" until="(10 > PowerVoltage()) || (GetPosAlt() > GetAltRef()+ 1350)" vmode="throttle" wp="1"/>
</block>
<block name="Climb 0m/s">
<circle climb="0" radius="nav_radius" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
</block>
<block name="Climb 1m/s">
<circle climb="1" pitch="5" radius="50+(GetPosAlt()-ground_alt)/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
<circle climb="1" pitch="5" radius="50+(GetPosAlt()-GetAltRef())/2" until="10 > PowerVoltage()" vmode="climb" wp="1"/>
</block>
<block name="Climb nav_climb m/s">
<circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (GetPosAlt() > ground_alt+ 1350)" vmode="climb" wp="1"/>
<circle climb="nav_climb" radius="nav_radius" until="(10 > PowerVoltage()) || (GetPosAlt() > GetAltRef()+ 1350)" vmode="climb" wp="1"/>
</block>
<block name="Circle 0% throttle">
<circle pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="ground_alt+50 > GetPosAlt()" vmode="throttle" wp="1"/>
<circle pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 > GetPosAlt()" vmode="throttle" wp="1"/>
<deroute block="Standby"/>
</block>
<block name="Oval 0% throttle">
<oval p1="1" p2="2" pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="ground_alt+50 > GetPosAlt()" vmode="throttle"/>
<oval p1="1" p2="2" pitch="fp_pitch" radius="nav_radius" throttle="0.0" until="GetAltRef()+50 > GetPosAlt()" vmode="throttle"/>
<deroute block="Standby"/>
</block>
@@ -163,7 +163,7 @@
</while>
</block>
<block name="Heading 30">
<heading alt="ground_alt+50" course="30" until="FALSE"/>
<heading alt="GetAltRef()+50" course="30" until="FALSE"/>
</block>
<block name="For loop (circles wp 1)">
<for from="0" to="3" var="i">
@@ -178,7 +178,7 @@
</block>
<block name="Fly in Square">
<exception cond="! InsideSquare(GetPosX(), GetPosY())" deroute="Come back wp 1"/>
<attitude alt="ground_alt+75" roll="0" vmode="alt"/>
<attitude alt="GetAltRef()+75" roll="0" vmode="alt"/>
</block>
<block name="Come back wp 1">
<exception cond="InsideSquare(GetPosX(), GetPosY())" deroute="Fly in Square"/>
conf/flight_plans/versatile_carto_fixe_muret.xml
+5 -5
View File
@@ -61,7 +61,7 @@ float varsweepsize=110;
</block>
<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<go wp="CLIMB"/>
</block>
@@ -111,8 +111,8 @@ float varsweepsize=110;
<block name="Monter">
<call fun="NavSetWaypointHere(WP_MOB)"/>
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<circle alt="ground_alt+105" radius="nav_radius" wp="MOB"/>
<exception cond="GetPosAlt() > ground_alt+100" deroute="Carto survey S1-S2-S3"/>
<circle alt="GetAltRef()+105" radius="nav_radius" wp="MOB"/>
<exception cond="GetPosAlt() > GetAltRef()+100" deroute="Carto survey S1-S2-S3"/>
</block>
@@ -139,8 +139,8 @@ float varsweepsize=110;
<block name="Descendre">
<call fun="NavSetWaypointHere(WP_MOB)"/>
<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
<circle alt="ground_alt+35" radius="nav_radius" wp="MOB"/>
<exception cond="ground_alt+40 > GetPosAlt() " deroute="Carto survey SP1-SP2-SP3 fin"/>
<circle alt="GetAltRef()+35" radius="nav_radius" wp="MOB"/>
<exception cond="GetAltRef()+40 > GetPosAlt() " deroute="Carto survey SP1-SP2-SP3 fin"/>
</block>
<block name="Carto survey SP1-SP2-SP3 fin" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
conf/flight_plans/xsens_cachejunction.xml
+2 -2
View File
@@ -23,7 +23,7 @@
<exceptions/>
<blocks>
<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="autopilot_flight_time"/>
<go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
@@ -91,7 +91,7 @@
<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
conf/flight_plans/zamboni_survey_test.xml
+2 -2
View File
@@ -34,7 +34,7 @@
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block key="t" name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png" group="home">
<exception cond="GetPosAlt() > ground_alt+25" deroute="Standby"/>
<exception cond="GetPosAlt() > GetAltRef()+25" deroute="Standby"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="autopilot_flight_time"/>
<go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB" pitch="15"/>
@@ -66,7 +66,7 @@
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="ground_alt + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
conf/messages.xml
+2
View File
@@ -83,6 +83,7 @@
<field name="utm_east" type="int32" unit="m"/>
<field name="utm_north" type="int32" unit="m"/>
<field name="utm_zone" type="uint8"/>
<field name="ground_alt" type="float" unit="m"/>
</message>
<message name="NAVIGATION" id="10">
@@ -2718,6 +2719,7 @@
<field name="lat" type="float" unit="deg"></field>
<field name="long" type="float" unit="deg"></field>
<field name="alt" type="float" unit="m"></field>
<field name="ground_alt" type="float" unit="m"/>
</message>
<message name="SURVEY_STATUS" id="31">
sw/airborne/firmwares/fixedwing/nav.c
+1 -1
View File
@@ -452,7 +452,7 @@ void nav_periodic_task(void) {
static void send_nav_ref(void) {
DOWNLINK_SEND_NAVIGATION_REF(DefaultChannel, DefaultDevice,
&nav_utm_east0, &nav_utm_north0, &nav_utm_zone0);
&nav_utm_east0, &nav_utm_north0, &nav_utm_zone0, &ground_alt);
}
static void send_nav(void) {
sw/airborne/firmwares/fixedwing/nav.h
+1
View File
@@ -199,6 +199,7 @@ bool_t nav_approaching_xy(float x, float y, float from_x, float from_y, float ap
#define GetPosX() (stateGetPositionEnu_f()->x)
#define GetPosY() (stateGetPositionEnu_f()->y)
#define GetPosAlt() (stateGetPositionUtm_f()->alt)
#define GetAltRef() (ground_alt)
#define SEND_NAVIGATION(_trans, _dev) { \
uint8_t _circle_count = NavCircleCount(); \
sw/airborne/firmwares/rotorcraft/navigation.c
-5
View File
@@ -58,8 +58,6 @@ struct EnuCoor_i nav_last_point;
uint8_t last_wp __attribute__ ((unused));
int32_t ground_alt;
/** Maximum distance from HOME waypoint before going into failsafe mode */
#ifndef FAILSAFE_MODE_DISTANCE
#define FAILSAFE_MODE_DISTANCE (1.5*MAX_DIST_FROM_HOME)
@@ -149,7 +147,6 @@ void nav_init(void) {
}
nav_block = 0;
nav_stage = 0;
ground_alt = POS_BFP_OF_REAL(GROUND_ALT);
nav_altitude = POS_BFP_OF_REAL(SECURITY_HEIGHT);
nav_flight_altitude = nav_altitude;
flight_altitude = SECURITY_ALT;
@@ -380,13 +377,11 @@ static inline void nav_set_altitude( void ) {
/** Reset the geographic reference to the current GPS fix */
unit_t nav_reset_reference( void ) {
ins_reset_local_origin();
ground_alt = POS_BFP_OF_REAL(state.ned_origin_f.hmsl);
return 0;
}
unit_t nav_reset_alt( void ) {
ins_reset_altitude_ref();
ground_alt = POS_BFP_OF_REAL(state.ned_origin_f.hmsl);
return 0;
}
sw/airborne/firmwares/rotorcraft/navigation.h
+3 -5
View File
@@ -47,9 +47,6 @@ extern void nav_run(void);
extern uint8_t last_wp __attribute__ ((unused));
/** ground reference altitude in meters << #INT32_POS_FRAC */
extern int32_t ground_alt;
extern uint8_t horizontal_mode;
extern uint8_t nav_segment_start, nav_segment_end;
extern uint8_t nav_circle_centre;
@@ -209,13 +206,14 @@ bool_t nav_check_wp_time(uint8_t wp_idx, uint16_t stay_time);
#define navigation_SetFlightAltitude(x) { \
flight_altitude = x; \
nav_flight_altitude = POS_BFP_OF_REAL(flight_altitude) - ground_alt; \
nav_flight_altitude = POS_BFP_OF_REAL(flight_altitude - state.ned_origin_f.hmsl); \
}
#define GetPosX() (stateGetPositionEnu_f()->x)
#define GetPosY() (stateGetPositionEnu_f()->y)
#define GetPosAlt() (stateGetPositionEnu_f()->z+ground_alt)
#define GetPosAlt() (stateGetPositionEnu_f()->z+state.ned_origin_f.hmsl)
#define GetAltRef() (state.ned_origin_f.hmsl)
extern void navigation_update_wp_from_speed(uint8_t wp, struct Int16Vect3 speed_sp, int16_t heading_rate_sp );
sw/ground_segment/cockpit/gcs.glade
+1 -1
View File
@@ -171,7 +171,7 @@
<child>
<widget class="GtkEventBox" id="eventbox14">
<property name="visible">True</property>
<property name="tooltip" translatable="yes">Above Ground Level (m), climb indicator, vertical speed (m/s)</property>
<property name="tooltip" translatable="yes">Above Ground Level from SRTM if available, ground reference otherwise (m), climb indicator, vertical speed (m/s)</property>
<child>
<widget class="GtkDrawingArea" id="drawingarea_agl">
<property name="visible">True</property>
sw/ground_segment/cockpit/live.ml
+3 -1
View File
@@ -1288,10 +1288,12 @@ let listen_waypoint_moved = fun () ->
let wp_id = Pprz.int_assoc "wp_id" vs in
let a = fun s -> Pprz.float_assoc s vs in
let geo = { posn_lat = (Deg>>Rad)(a "lat"); posn_long = (Deg>>Rad)(a "long") }
and altitude = a "alt" in
and altitude = a "alt"
and ground_alt = a "ground_alt" in
try
let w = ac.fp_group#get_wp wp_id in
w#set_ground_alt ground_alt;
w#set ~altitude ~update:true geo
with
Not_found -> () (* Silently ignore unknown waypoints *)
sw/ground_segment/tmtc/aircraft.ml
+2 -1
View File
@@ -121,6 +121,7 @@ type aircraft = {
mutable climb : float;
mutable nav_ref : nav_ref option;
mutable d_hmsl : float;
mutable ground_alt : float; (* ground alt ref if no SRTM data *)
mutable desired_pos : Latlong.geographic;
mutable desired_altitude : float;
mutable desired_course : float;
@@ -169,7 +170,7 @@ let new_aircraft = fun id name fp airframe ->
unix_time = 0.; itow = Int32.of_int 0;
roll = 0.; pitch = 0.;
gspeed=0.; airspeed= -1.; course = 0.; heading = 0.; alt=0.; climb=0.; agl = 0.;
nav_ref = None; d_hmsl = 0.;
nav_ref = None; d_hmsl = 0.; ground_alt = 0.;
desired_pos = { Latlong.posn_lat = 0.; posn_long = 0. };
desired_course = 0.; desired_altitude = 0.; desired_climb = 0.;
cur_block=0; cur_stage=0;
sw/ground_segment/tmtc/aircraft.mli
+1
View File
@@ -87,6 +87,7 @@ type aircraft = {
mutable climb : float;
mutable nav_ref : nav_ref option;
mutable d_hmsl : float; (* difference between geoid and ellipsoid *)
mutable ground_alt : float; (* ground alt ref if no SRTM data *)
mutable desired_pos : Latlong.geographic;
mutable desired_altitude : float;
mutable desired_course : float;
sw/ground_segment/tmtc/fw_server.ml
+7 -5
View File
@@ -113,7 +113,7 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
a.course <- norm_course ((Deg>>Rad)(fvalue "course" /. 10.));
if !heading_from_course then
a.heading <- a.course;
a.agl <- a.alt -. float (try Srtm.of_wgs84 a.pos with _ -> 0);
a.agl <- a.alt -. (try float (Srtm.of_wgs84 a.pos) with _ -> a.ground_alt);
if a.gspeed > 3. && a.ap_mode = _AUTO2 then
Wind.update ac_name a.gspeed a.course
end
@@ -128,7 +128,7 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
a.course <- norm_course ((Deg>>Rad)(fvalue "course" /. 10.));
if !heading_from_course then
a.heading <- a.course;
a.agl <- a.alt -. float (try Srtm.of_wgs84 a.pos with _ -> 0);
a.agl <- a.alt -. (try float (Srtm.of_wgs84 a.pos) with _ -> a.ground_alt);
a.gps_mode <- check_index (ivalue "mode") gps_modes "GPS_MODE";
if a.gspeed > 3. && a.ap_mode = _AUTO2 then
Wind.update ac_name a.gspeed a.course
@@ -152,12 +152,14 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
a.desired_climb <- (try fvalue "climb" with _ -> fvalue "desired_climb");
begin try a.desired_course <- norm_course (fvalue "course") with _ -> () end
| "NAVIGATION_REF" ->
a.nav_ref <- Some (Utm { utm_x = fvalue "utm_east"; utm_y = fvalue "utm_north"; utm_zone = ivalue "utm_zone" })
a.nav_ref <- Some (Utm { utm_x = fvalue "utm_east"; utm_y = fvalue "utm_north"; utm_zone = ivalue "utm_zone" });
a.ground_alt <- fvalue "ground_alt"
| "NAVIGATION_REF_LLA" ->
let lat = ivalue "lat"
and lon = ivalue "lon" in
let geo = make_geo (float lat /. 1e7) (float lon /. 1e7) in
a.nav_ref <- Some (Geo geo)
a.nav_ref <- Some (Geo geo);
a.ground_alt <- fvalue "ground_alt"
| "ATTITUDE" ->
let roll = fvalue "phi"
and pitch = fvalue "theta" in
@@ -316,7 +318,7 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
a.course <- norm_course (fvalue "course" /. 1e3);
if !heading_from_course then
a.heading <- a.course;
a.agl <- a.alt -. float (try Srtm.of_wgs84 a.pos with _ -> 0);
a.agl <- a.alt -. (try float (Srtm.of_wgs84 a.pos) with _ -> a.ground_alt);
a.bat <- fvalue "vsupply" /. 10.;
a.energy <- ivalue "energy" * 100;
a.throttle <- fvalue "throttle";
sw/ground_segment/tmtc/rotorcraft_server.ml
+2 -3
View File
@@ -30,8 +30,6 @@ module LL = Latlong
module U = Unix
module Dl_Pprz = Pprz.Messages (struct let name = "datalink" end)
let nav_ref_alt = ref 0.
let nav_ref_hmsl = ref 0.
(* FIXME: bound the loop *)
let rec norm_course =
@@ -168,7 +166,7 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
and vnorth = foi32value "vnorth" /. speed_frac in
a.gspeed <- sqrt(vnorth*.vnorth +. veast*.veast);
a.climb <- foi32value "vup" /. speed_frac;
a.agl <- a.alt -. float (try Srtm.of_wgs84 a.pos with _ -> 0);
a.agl <- a.alt -. (try float (Srtm.of_wgs84 a.pos) with _ -> a.ground_alt);
a.course <- norm_course ((Rad>>Deg) (foi32value "psi" /. angle_frac));
a.heading <- norm_course (foi32value "psi" /. angle_frac);
a.roll <- foi32value "phi" /. angle_frac;
@@ -200,6 +198,7 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
let nav_ref_ecef = LL.make_ecef [| x; y; z |] in
a.nav_ref <- Some (Ltp nav_ref_ecef);
a.d_hmsl <- hmsl -. alt;
a.ground_alt <- hmsl;
| "ROTORCRAFT_NAV_STATUS" ->
a.block_time <- ivalue "block_time";
a.stage_time <- ivalue "stage_time";
sw/ground_segment/tmtc/server.ml
+2 -1
View File
@@ -294,7 +294,8 @@ let send_moved_waypoints = fun a ->
"wp_id", Pprz.Int wp_id;
"long", Pprz.Float ((Rad>>Deg)geo.posn_long);
"lat", Pprz.Float ((Rad>>Deg)geo.posn_lat);
"alt", Pprz.Float wp.altitude] in
"alt", Pprz.Float wp.altitude;
"ground_alt", Pprz.Float (try float (Srtm.of_wgs84 geo) with _ -> a.ground_alt)] in
Ground_Pprz.message_send my_id "WAYPOINT_MOVED" vs)
a.waypoints
sw/lib/ocaml/mapCanvas.ml
+5 -2
View File
@@ -645,7 +645,7 @@ object (self)
class widget = fun ?(height=800) ?(srtm=false) ?width ?projection ?georef () ->
let srtm = GMenu.check_menu_item ~label:"SRTM" ~active:srtm () in
let srtm = GMenu.check_menu_item ~label:"display SRTM alt" ~active:srtm () in
let lbl_xy = GMisc.label ()
and lbl_geo = GMisc.label ()
and lbl_alt = GMisc.label ()
@@ -676,6 +676,7 @@ class widget = fun ?(height=800) ?(srtm=false) ?width ?projection ?georef () ->
let bg_menu = my_check_menu_item "Background" ~active:true ~callback:self#switch_background ~packing:self#file_menu#append () in
let tooltips = GData.tooltips () in
tooltips#set_tip srtm#coerce ~text:"Display SRTM alt at pointer position (will request for download if not available)";
let b = GButton.button ~packing:toolbar#add () in
ignore (b#connect#clicked (fun _ -> bg_menu#activate ()));
@@ -777,7 +778,9 @@ class widget = fun ?(height=800) ?(srtm=false) ?width ?projection ?georef () ->
method display_alt = fun wgs84 ->
if srtm#active then
lbl_alt#set_text (sprintf " SRTM:%dm"(self#altitude wgs84))
lbl_alt#set_text (sprintf " SRTM:%dm"(self#altitude wgs84))
else if not (Srtm.available wgs84) then
lbl_alt#set_text (sprintf " SRTM: N/A")
method display_group = fun s -> lbl_group#set_text s
sw/lib/ocaml/mapWaypoints.ml
+4 -2
View File
@@ -74,6 +74,7 @@ object (self)
val label = new CL.widget ~name:name ~color:"white" s 0. wpt_group
val mutable name = name (* FIXME: already in label ! *)
val mutable alt = alt
val mutable ground_alt = 0.
val mutable moved = None
val mutable deleted = false
val mutable commit_cb = None
@@ -145,7 +146,7 @@ object (self)
ea#set_adjustment adj;
ea#set_value alt; (* this should be done by set_adjustment but seems to fail on ubuntu 13.10 (at least) *)
let agl = alt -. float (try Srtm.of_wgs84 initial_wgs84 with _ -> 0) in
let agl = alt -. (try float (Srtm.of_wgs84 initial_wgs84) with _ -> ground_alt) in
let agl_lab = GMisc.label ~text:(sprintf " AGL: %4.0fm" agl) ~packing:ha#add () in
let plus10= GButton.button ~label:"+10" ~packing:ha#add () in
let change_alt = fun x ->
@@ -202,7 +203,7 @@ object (self)
try
set_coordinates ();
let wgs84 = self#pos in
let agl = ea#value -. float (try Srtm.of_wgs84 wgs84 with _ -> 0) in
let agl = ea#value -. (try float (Srtm.of_wgs84 wgs84) with _ -> ground_alt) in
agl_lab#set_text (sprintf " AGL: %4.0fm" agl)
with _ -> ()
in
@@ -282,6 +283,7 @@ object (self)
if update then updated ()
| (None, false) | (Some _, true) -> ()
| Some _, false -> self#reset_moved ()
method set_ground_alt ga = ground_alt <- ga
method delete () =
deleted <- true; (* BOF *)
wpt_group#destroy ()
sw/lib/ocaml/mapWaypoints.mli
+1
View File
@@ -52,6 +52,7 @@ class waypoint :
method move : float -> float -> unit
method name : string
method set : ?altitude:float -> ?update:bool -> Latlong.geographic -> unit
method set_ground_alt : float -> unit
method set_name : string -> unit
method xy : float * float
method zoom : float -> unit
sw/lib/ocaml/srtm.ml
+3
View File
@@ -79,6 +79,9 @@ let of_wgs84 = fun geo ->
let of_utm = fun utm ->
of_wgs84 (Latlong.of_utm WGS84 utm)
let available = fun geo ->
try ignore(of_wgs84 geo); true with _ -> false
let area_of_tile = fun tile ->
let area = open_compressed "srtm.data.bz2" in
let rec _area_of_tile = fun () ->

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