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Initial kalscott flightplan

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This commit is contained in:
Anton Kochevar
2010-01-23 02:33:26 +00:00
parent 03a2dcb4a7
commit 870b2e36a2
1 changed files with 62 additions and 0 deletions
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conf/flight_plans/kalscott.xml
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
<flight_plan alt="100" ground_alt="0" lat0="43.46223" lon0="1.27289" max_dist_from_home="1500" name="Basic" security_height="25">
<header>
#include "nav_line.h"
#include "datalink.h"
</header>
<waypoints>
<waypoint name="HOME" x="0" y="0"/>
<waypoint name="CIRCLE" x="49.5" y="100.1"/>
<waypoint name="1" x="10.1" y="189.9"/>
<waypoint name="2" x="132.3" y="139.1"/>
<waypoint name="CLIMB" x="-114.5" y="162.3"/>
</waypoints>
<exceptions/>
<blocks>
<block name="Wait GPS">
<set value="1" var="kill_throttle"/>
<while cond="!GpsFixValid()"/>
</block>
<block name="Geo init">
<while cond="LessThan(NavBlockTime(), 10)"/>
<call fun="NavSetGroundReferenceHere()"/>
</block>
<block name="Holding point">
<set value="1" var="kill_throttle"/>
<attitude roll="0" throttle="0" vmode="throttle"/>
</block>
<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
<exception cond="estimator_z > ground_alt+25" deroute="Circle"/>
<set value="0" var="kill_throttle"/>
<set value="0" var="estimator_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="estimator_z > 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="estimator_z > 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="estimator_z > 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="estimator_z > ground_alt+305"/>
<circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+300" until="NavCircleCount() > 2"/>
<circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+200" until="estimator_z > ground_alt+205"/>
<circle radius="nav_radius" wp="CIRCLE" alt="ground_alt+200" until="NavCircleCount() > 2"/>
<deroute block="Circle"/>
</block>
<block name="Racetrack 1-2" strip_button="Racetrack (wp 1-2)" strip_icon="oval.png">
<oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+200" until="estimator_z > 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="estimator_z > 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="estimator_z > 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="estimator_z > ground_alt+305"/>
<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="estimator_z > ground_alt+205"/>
<oval p1="1" p2="2" radius="nav_radius" alt="ground_alt+200" until="nav_oval_count > 2"/>
<deroute block="Racetrack 1-2"/>
</block>
</blocks>
</flight_plan>