From 8b160c6efd6d12e4e4878d800f37ba318dbc5502 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Fri, 25 Mar 2011 16:46:06 +0100
Subject: [PATCH] updated landing block for better alignment on a left landing,
 thx Reto.

---
 conf/flight_plans/EMAV2008.xml            | 6 +++---
 conf/flight_plans/IS.xml                  | 2 +-
 conf/flight_plans/basic.xml               | 2 +-
 conf/flight_plans/ccc_gl.xml              | 2 +-
 conf/flight_plans/fp_tp_auto.xml          | 2 +-
 conf/flight_plans/grosslobke_demo.xml     | 2 +-
 conf/flight_plans/joystick.xml            | 2 +-
 conf/flight_plans/landing.xml             | 2 +-
 conf/flight_plans/mav07.xml               | 2 +-
 conf/flight_plans/mav08.xml               | 2 +-
 conf/flight_plans/nordlys.xml             | 2 +-
 conf/flight_plans/poles.xml               | 2 +-
 conf/flight_plans/slayer_training.xml     | 2 +-
 conf/flight_plans/snav.xml                | 2 +-
 conf/flight_plans/standard.xml            | 2 +-
 conf/flight_plans/tcas.xml                | 2 +-
 conf/flight_plans/versatile.xml           | 2 +-
 conf/flight_plans/xsens_cachejunction.xml | 2 +-
 18 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/conf/flight_plans/EMAV2008.xml b/conf/flight_plans/EMAV2008.xml
index 61457ec38c..2cadcfc0a2 100644
--- a/conf/flight_plans/EMAV2008.xml
+++ b/conf/flight_plans/EMAV2008.xml
@@ -84,7 +84,7 @@
     </block>
     <block name="land">
       <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 15 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 15 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
     </block>
     <block name="final">
 <!--      <exception cond="ground_alt + 6 > estimator_z" deroute="flare"/> -->
@@ -130,7 +130,7 @@
     </block>
     <block name="bomb">
       <call fun="nav_compute_baseleg(WP_START, WP_DROP, WP_BASELEG, nav_radius)"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10)" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10)" wp="BASELEG"/>
     </block>
     <block name="align">
       <go approaching_time="0" from="START" hmode="route" wp="DROP"/>
@@ -149,7 +149,7 @@
     </block>
     <block name="bombfake">
       <call fun="nav_compute_baseleg(WP_START, WP_DROP, WP_BASELEG, nav_radius)"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10)" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10)" wp="BASELEG"/>
     </block>
     <block name="alignfake">
       <go approaching_time="0" from="START" hmode="route" wp="DROP"/>
diff --git a/conf/flight_plans/IS.xml b/conf/flight_plans/IS.xml
index 9c264b7f37..dddd2b9cb5 100644
--- a/conf/flight_plans/IS.xml
+++ b/conf/flight_plans/IS.xml
@@ -148,7 +148,7 @@
       <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
       <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
       <circle radius="nav_radius"
-              until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))"
+              until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))"
               wp="BASELEG"/>
     </block>
 
diff --git a/conf/flight_plans/basic.xml b/conf/flight_plans/basic.xml
index 57f3531d50..f9ead2281c 100644
--- a/conf/flight_plans/basic.xml
+++ b/conf/flight_plans/basic.xml
@@ -78,7 +78,7 @@
     <block name="land">
       <call 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)-10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
     </block>
     <block name="final">
       <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
diff --git a/conf/flight_plans/ccc_gl.xml b/conf/flight_plans/ccc_gl.xml
index 47a16f5a85..1a7656c6f6 100644
--- a/conf/flight_plans/ccc_gl.xml
+++ b/conf/flight_plans/ccc_gl.xml
@@ -112,7 +112,7 @@
       <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
       <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
       <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
     </block>
     <block name="final">
       <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
diff --git a/conf/flight_plans/fp_tp_auto.xml b/conf/flight_plans/fp_tp_auto.xml
index d9f0b4f940..3f61b05c1b 100644
--- a/conf/flight_plans/fp_tp_auto.xml
+++ b/conf/flight_plans/fp_tp_auto.xml
@@ -111,7 +111,7 @@
       <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
       <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
       <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
     </block>
     <block name="final">
       <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
diff --git a/conf/flight_plans/grosslobke_demo.xml b/conf/flight_plans/grosslobke_demo.xml
index 03e7dee1a1..92cecfe5f7 100755
--- a/conf/flight_plans/grosslobke_demo.xml
+++ b/conf/flight_plans/grosslobke_demo.xml
@@ -77,7 +77,7 @@
     <block name="land">
       <call 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="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 20 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 20 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
     </block>
     <block name="final">
       <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
diff --git a/conf/flight_plans/joystick.xml b/conf/flight_plans/joystick.xml
index 55b6b6e0cd..585a5542e4 100644
--- a/conf/flight_plans/joystick.xml
+++ b/conf/flight_plans/joystick.xml
@@ -80,7 +80,7 @@
     <block name="land">
       <call 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="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
     </block>
     <block name="final">
       <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
diff --git a/conf/flight_plans/landing.xml b/conf/flight_plans/landing.xml
index bcbc1cf8b0..953b26464b 100644
--- a/conf/flight_plans/landing.xml
+++ b/conf/flight_plans/landing.xml
@@ -18,7 +18,7 @@
     <block name="land">
       <call 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)-10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
     </block>
     <block name="final">
       <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
diff --git a/conf/flight_plans/mav07.xml b/conf/flight_plans/mav07.xml
index fb2a87092a..d4e3429ae0 100644
--- a/conf/flight_plans/mav07.xml
+++ b/conf/flight_plans/mav07.xml
@@ -130,7 +130,7 @@
     <block name="land">
       <call 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="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
     </block>
     <block name="final">
       <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
diff --git a/conf/flight_plans/mav08.xml b/conf/flight_plans/mav08.xml
index d418ee1cf7..084723612c 100644
--- a/conf/flight_plans/mav08.xml
+++ b/conf/flight_plans/mav08.xml
@@ -98,7 +98,7 @@
     <block name="land">
       <call 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="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
     </block>
     <block name="final">
       <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
diff --git a/conf/flight_plans/nordlys.xml b/conf/flight_plans/nordlys.xml
index 61fa5a0fa6..9e279fe850 100644
--- a/conf/flight_plans/nordlys.xml
+++ b/conf/flight_plans/nordlys.xml
@@ -85,7 +85,7 @@
     <block name="land">
       <call 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="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 20 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 20 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
     </block>
     <block name="final">
       <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
diff --git a/conf/flight_plans/poles.xml b/conf/flight_plans/poles.xml
index fad085ec5e..e1476ff1d8 100644
--- a/conf/flight_plans/poles.xml
+++ b/conf/flight_plans/poles.xml
@@ -70,7 +70,7 @@
     <block name="land">
       <call 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)-10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="And(NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10), 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG)))" wp="_BASELEG"/>
     </block>
     <block name="final">
       <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
diff --git a/conf/flight_plans/slayer_training.xml b/conf/flight_plans/slayer_training.xml
index 16773c0183..92d84fe58c 100644
--- a/conf/flight_plans/slayer_training.xml
+++ b/conf/flight_plans/slayer_training.xml
@@ -75,7 +75,7 @@
       <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG)"/>
       <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
       <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
     </block>
     <block name="final">
       <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
diff --git a/conf/flight_plans/snav.xml b/conf/flight_plans/snav.xml
index 866073c27e..d22bd1c962 100644
--- a/conf/flight_plans/snav.xml
+++ b/conf/flight_plans/snav.xml
@@ -55,7 +55,7 @@
     <block name="land">
       <call 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="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
     </block>
     <block name="final">
       <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
diff --git a/conf/flight_plans/standard.xml b/conf/flight_plans/standard.xml
index 906defbb70..ffa5e8dbda 100644
--- a/conf/flight_plans/standard.xml
+++ b/conf/flight_plans/standard.xml
@@ -68,7 +68,7 @@
     <block name="land">
       <call 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="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
     </block>
     <block name="final">
       <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
diff --git a/conf/flight_plans/tcas.xml b/conf/flight_plans/tcas.xml
index c0b327457c..9a3c2ce1ba 100644
--- a/conf/flight_plans/tcas.xml
+++ b/conf/flight_plans/tcas.xml
@@ -72,7 +72,7 @@
     <block name="land">
       <call 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="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
     </block>
     <block name="final">
       <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
diff --git a/conf/flight_plans/versatile.xml b/conf/flight_plans/versatile.xml
index c5d5e9becc..7544e5dda3 100644
--- a/conf/flight_plans/versatile.xml
+++ b/conf/flight_plans/versatile.xml
@@ -119,7 +119,7 @@
       <call fun="nav_compute_baseleg(WP_AF, WP_TD, WP_BASELEG, nav_radius)"/>
       <circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="BASELEG"/>
       <set value="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE" var="v_ctl_auto_throttle_cruise_throttle"/>
-      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP_BASELEG))" wp="BASELEG"/>
     </block>
     <block name="final">
       <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
diff --git a/conf/flight_plans/xsens_cachejunction.xml b/conf/flight_plans/xsens_cachejunction.xml
index 84aa6cf7bf..2179cf4094 100644
--- a/conf/flight_plans/xsens_cachejunction.xml
+++ b/conf/flight_plans/xsens_cachejunction.xml
@@ -89,7 +89,7 @@
     <block name="land">
       <call 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="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
+      <circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-(nav_radius/fabs(nav_radius))*10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
     </block>
     <block name="final">
       <exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>