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[SuperBifRf] Smaller Message for vertical loop tuning

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This commit is contained in:
Christophe De Wagter
2013-09-22 12:51:45 +02:00
parent 1aab59fef0
commit 8bc84c29c5
3 changed files with 128 additions and 1 deletions
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conf/flight_plans/rotorcraft_basic_superbitrf.xml
+113
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@@ -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>
conf/messages.xml
+7 -1
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@@ -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 -->
sw/airborne/firmwares/rotorcraft/telemetry.h
+8
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@@ -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, \