From 8bc84c29c543175443beb1397c0a09fab547e78b Mon Sep 17 00:00:00 2001
From: Christophe De Wagter <dewagter@gmail.com>
Date: Sun, 22 Sep 2013 12:51:45 +0200
Subject: [PATCH] [SuperBifRf] Smaller Message for vertical loop tuning

---
 .../rotorcraft_basic_superbitrf.xml           | 113 ++++++++++++++++++
 conf/messages.xml                             |   8 +-
 sw/airborne/firmwares/rotorcraft/telemetry.h  |   8 ++
 3 files changed, 128 insertions(+), 1 deletion(-)
 create mode 100644 conf/flight_plans/rotorcraft_basic_superbitrf.xml

diff --git a/conf/flight_plans/rotorcraft_basic_superbitrf.xml b/conf/flight_plans/rotorcraft_basic_superbitrf.xml
new file mode 100644
index 0000000000..635610b6ae
--- /dev/null
+++ b/conf/flight_plans/rotorcraft_basic_superbitrf.xml
@@ -0,0 +1,113 @@
+<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
+
+<flight_plan alt="152" ground_alt="147" lat0="43 33 50.83" lon0="1 28 52.61" max_dist_from_home="400" name="Booz Test Enac" security_height="2">
+  <header>
+#include "autopilot.h"
+  </header>
+  <waypoints>
+    <waypoint name="HOME" x="0.0" y="0.0"/>
+    <waypoint name="CLIMB" x="0.0" y="5.0"/>
+    <waypoint name="STDBY" x="-2.0" y="-5.0"/>
+    <waypoint name="p1" x="3.6" y="-13.9"/>
+    <waypoint name="p2" x="27.5" y="-48.2"/>
+    <waypoint name="p3" x="16.7" y="-19.6"/>
+    <waypoint name="p4" x="13.7" y="-40.7"/>
+    <waypoint name="FA1" x="200" y="200"/>
+    <waypoint name="FA2" x="200" y="-200"/>
+    <waypoint name="FA3" x="-200" y="-200"/>
+    <waypoint name="FA4" x="-200" y="200"/>
+    <waypoint name="KILL1" x="280" y="280"/>
+    <waypoint name="KILL2" x="280" y="-280"/>
+    <waypoint name="KILL3" x="-280" y="-280"/>
+    <waypoint name="KILL4" x="-280" y="280"/>
+    <waypoint name="CAM" x="-20" y="-50" height="2."/>
+    <waypoint name="TD" x="5.6" y="-10.9"/>
+  </waypoints>
+  <sectors>
+    <sector color="red" name="Flight_Area">
+      <corner name="FA1"/>
+      <corner name="FA2"/>
+      <corner name="FA3"/>
+      <corner name="FA4"/>
+    </sector>
+    <sector color="red" name="Kill">
+      <corner name="KILL1"/>
+      <corner name="KILL2"/>
+      <corner name="KILL3"/>
+      <corner name="KILL4"/>
+    </sector>
+  </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"/>
+    <!-- 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 -->
+    <exception cond="10 > time_until_land && !(nav_block == BLOCK_Land) && !(nav_block == BLOCK_Flare) && !(nav_block == BLOCK_Landed)" deroute="Land_Here"/>
+  </exceptions>
+  <blocks>
+    <block name="Init">
+      <call fun="NavKillThrottle()"/>
+      <while cond="!GpsFixValid() || gps.pacc > 1500 || !(ahrs.status == AHRS_RUNNING)"/>
+    </block>
+    <block name="Geo init">
+      <while cond="LessThan(NavBlockTime(), 10)"/>
+      <call fun="NavSetGroundReferenceHere()"/>
+      <!--<call fun="NavSetAltitudeReferenceHere()"/>-->
+    </block>
+    <block name="Holding point">
+      <call fun="NavKillThrottle()"/>
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
+    </block>
+    <block name="Start Engine">
+      <call fun="NavResurrect()"/>
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
+    </block>
+    <block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
+      <call fun="NavSetWaypointHere(WP_CLIMB)"/>
+      <exception cond="stateGetPositionEnu_f()->z > 5.0" deroute="Standby"/>
+      <attitude pitch="0" roll="0" throttle="0.5" vmode="throttle"/>
+    </block>
+    <block name="Standby" strip_button="Standby" strip_icon="home.png">
+      <go wp="STDBY"/>
+      <deroute block="line_p1_p2"/>
+    </block>
+    <block name="stay_p1">
+      <stay wp="p1"/>
+    </block>
+    <block name="go_p2">
+      <go wp="p2"/>
+      <deroute block="stay_p1"/>
+    </block>
+    <block name="line_p1_p2">
+      <go from="p1" hmode="route" wp="p2"/>
+      <stay wp="p2" until="stage_time>10"/>
+      <go from="p2" hmode="route" wp="p1"/>
+      <deroute block="stay_p1"/>
+    </block>
+    <block name="route">
+      <go from="p1" hmode="route" wp="p3"/>
+      <go from="p3" hmode="route" wp="p4"/>
+      <go from="p4" hmode="route" wp="p1"/>
+      <deroute block="stay_p1"/>
+    </block>
+    <block name="circle">
+      <circle radius="nav_radius" wp="p1"/>
+    </block>
+    <block name="land here" strip_button="Land Here" strip_icon="land-right.png">
+      <call fun="NavSetWaypointHere(WP_TD)"/>
+    </block>
+    <block name="land">
+      <go wp="TD"/>
+    </block>
+    <block name="flare">
+      <exception cond="NavDetectGround()" deroute="Holding point"/>
+      <exception cond="!nav_is_in_flight()" deroute="landed"/>
+      <call fun="NavStartDetectGround()"/>
+      <stay climb="-0.8" vmode="climb" wp="TD"/>
+    </block>
+    <block name="landed">
+      <attitude pitch="0" roll="0" throttle="0" vmode="throttle" until="FALSE"/>
+    </block>
+  </blocks>
+</flight_plan>
diff --git a/conf/messages.xml b/conf/messages.xml
index 1e38778f87..687c7c3e4d 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -1860,7 +1860,13 @@
     <field name="rc_status"       type="uint8" values="OK|LOST|REALLY_LOST"/>
   </message>
 
- <!--213 is free -->
+  <message name="TUNE_VERT" id="213">
+    <field name="z_sp"      type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
+    <field name="est_z"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
+    <field name="ref_z"     type="int32" alt_unit="m"    alt_unit_coef="0.0039063"/>
+    <field name="ref_zd"    type="int32" alt_unit="m/s"  alt_unit_coef="0.0000019"/>
+  </message>
+
  <!--214 is free -->
  <!--215 is free -->
  <!--216 is free -->
diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
index 5a6916b984..96d9cc0666 100644
--- a/sw/airborne/firmwares/rotorcraft/telemetry.h
+++ b/sw/airborne/firmwares/rotorcraft/telemetry.h
@@ -646,6 +646,14 @@
                   &guidance_v_delta_t);		\
   }
 
+#define PERIODIC_SEND_TUNE_VERT(_trans, _dev) {     \
+    DOWNLINK_SEND_TUNE_VERT(_trans, _dev,           \
+                            &guidance_v_z_sp,		\
+                            &ins_ltp_pos.z,			\
+                            &guidance_v_z_ref,		\
+                            &guidance_v_zd_ref);   \
+  }
+
 #define PERIODIC_SEND_HOVER_LOOP(_trans, _dev) {				\
     DOWNLINK_SEND_HOVER_LOOP(_trans, _dev,				\
                    &guidance_h_pos_sp.x,		\