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Fix flight plans (#2740)

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* [Flightplans] Replace ">" by "@GT".

* [Flightplan] Replace "&&" by "@AND".

* Add GetPosHeight() macro.

* [FlightPlan] Replace "stateGetPositionEnu_f()->z" by the GetPosHeight() macro.
This commit is contained in:
Fabien-B
2021-06-28 13:20:55 +02:00
committed by GitHub
parent 5cfda00673
commit 87a0526f37
74 changed files with 502 additions and 496 deletions
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conf/flight_plans/demo_gvf.xml
+4 -4
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@@ -51,7 +51,7 @@
<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() > GetAltRef()+25" deroute="Standby"/>
<exception cond="GetPosAlt() @GT GetAltRef()+25" deroute="Standby"/>
<set value="0" var="autopilot.kill_throttle"/>
<set value="0" var="autopilot.flight_time"/>
<go from="HOME" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
@@ -102,11 +102,11 @@
</block>
<block name="land">
<call_once 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="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
<circle radius="nav_radius" until="NavCircleCount() @GT 0.5" wp="_BASELEG"/>
<circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 @GT fabs(GetPosAlt() - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
</block>
<block name="final">
<exception cond="GetAltRef() + 10 > GetPosAlt()" deroute="flare"/>
<exception cond="GetAltRef() + 10 @GT GetPosAlt()" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">