mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-20 11:28:58 +08:00
[xml] Flight plan and airframe file updates for outdoor testing with hybrid and Bebop2. (#1718)
* [xml] Bebop2 simple outdoor flight plan and flight testing. Added MavShot xml file. Added custom GCS layout in DB folder * Removed deprecated file
This commit is contained in:
Deon Blaauw
Felix Ruess
@@ -4,6 +4,7 @@
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<firmware name="rotorcraft">
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<target name="ap" board="bebop2">
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<define name="USE_SONAR" value="TRUE"/>
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<define name="STABILIZATION_INDI_G2_R" value="0.20"/>
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<!--define name="FAILSAFE_GROUND_DETECT"/-->
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</target>
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@@ -21,14 +22,21 @@
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<module name="motor_mixing"/>
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<module name="actuators" type="bebop"/>
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<module name="imu" type="bebop"/>
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<module name="gps" type="datalink"/>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="indi"/>
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="FALSE"/>
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<define name="AHRS_USE_GPS_HEADING" value="TRUE"/>
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<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
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<module name="ahrs" type="float_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="TRUE"/>
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<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
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<define name="AHRS_HEADING_UPDATE_GPS_MIN_SPEED" value="0"/>
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</module>
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<!-- Enable the vertical estimator -->
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<module name="ins" type="extended"/>
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<!-- Enable the horizontal estimator -->
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<!-- <module name="ins" type="hff"> -->
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<!-- <define name="GPS_LAG" value="0.35"/> -->
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<!-- </module> -->
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<define name="KILL_ON_GROUND_DETECT" value="TRUE"/>
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</firmware>
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@@ -80,26 +88,28 @@
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<section name="IMU" prefix="IMU_">
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<!-- Magneto calibration -->
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<define name="MAG_X_NEUTRAL" value="18"/>
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<define name="MAG_Y_NEUTRAL" value="46"/>
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<define name="MAG_Z_NEUTRAL" value="202"/>
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<define name="MAG_X_SENS" value="8.32441255621" integer="16"/>
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<define name="MAG_Y_SENS" value="8.25720085664" integer="16"/>
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<define name="MAG_Z_SENS" value="8.60009819293" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="-74"/>
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<define name="MAG_Y_NEUTRAL" value="33"/>
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<define name="MAG_Z_NEUTRAL" value="-189"/>
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<define name="MAG_X_SENS" value="7.32880539549" integer="16"/>
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<define name="MAG_Y_SENS" value="7.38826972194" integer="16"/>
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<define name="MAG_Z_SENS" value="7.71693452252" integer="16"/>
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<!-- Accelerometer Calibration -->
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<!-- <define name="ACCEL_X_NEUTRAL" value="72"/>
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<define name="ACCEL_Y_NEUTRAL" value="-20"/>
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<define name="ACCEL_Z_NEUTRAL" value="42"/>
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<define name="ACCEL_X_SENS" value="2.44509248843" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.44634245634" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.43962899631" integer="16"/>-->
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</section>
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<!-- local magnetic field -->
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<!-- http://wiki.paparazziuav.org/wiki/Subsystem/ahrs#Local_Magnetic_Field -->
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<!-- Toulouse -->
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<!--define name="H_X" value="0.513081"/>
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<define name="H_Y" value="-0.00242783"/>
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<define name="H_Z" value="0.858336"/-->
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<!-- Delft -->
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<define name="H_X" value="0.3892503"/>
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<define name="H_Y" value="0.0017972"/>
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<define name="H_Z" value="0.9211303"/>
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<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
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<define name="H_X" value="0.0"/>
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<define name="H_Y" value="0.0"/>
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<define name="H_Z" value="0.0"/>
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</section>
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<section name="INS" prefix="INS_">
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@@ -197,7 +207,7 @@
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
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<define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
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<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
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</section>
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@@ -5,9 +5,20 @@
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airframe="airframes/DB/db_bebop2_indi.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/DB/db_default_rotorcraft.xml"
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flight_plan="flight_plans/DB/db_cyberzoo.xml"
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settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/rotorcraft_speed.xml settings/control/stabilization_indi.xml"
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flight_plan="flight_plans/DB/db_outdoors.xml"
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settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/rotorcraft_speed.xml settings/control/stabilization_indi.xml [settings/control/stabilization_rate.xml] [settings/control/stabilization_att_int.xml] [settings/control/stabilization_att_int_quat.xml] [settings/control/stabilization_att_float_euler.xml]"
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settings_modules="modules/geo_mag.xml modules/air_data.xml"
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gui_color="red"
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gui_color="#0d890debf1c6"
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/>
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<aircraft
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name="mavshot"
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ac_id="52"
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airframe="airframes/DB/db_mavshot.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/DB/db_default_rotorcraft.xml"
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flight_plan="flight_plans/DB/db_outdoors.xml"
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settings="settings/rotorcraft_basic.xml settings/modules/config_asctec_v2_new.xml"
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settings_modules="modules/geo_mag.xml [modules/gps_ubx_ucenter.xml]"
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gui_color="#ee1bf3780c03"
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/>
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</conf>
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@@ -0,0 +1,294 @@
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<!-- this is a quadshot vehicle equiped with Lisa/m2.0 and an aspirin 2.1
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More information on the Quadshot can be found at transition-robotics.com -->
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<airframe name="quadshot aspirin 2.1 spektrum">
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<servos driver="Pwm">
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<!-- <servo name="A1" no="0" min="1000" neutral="1100" max="2000"/>
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<servo name="A2" no="1" min="1000" neutral="1100" max="2000"/>
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<servo name="B1" no="2" min="1000" neutral="1100" max="2000"/>
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<servo name="B2" no="3" min="1000" neutral="1100" max="2000"/>-->
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<servo name="ELEVON_LEFT" no="4" min="1000" neutral="1500" max="2000"/>
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<servo name="ELEVON_RIGHT" no="5" min="1000" neutral="1500" max="2000"/>
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</servos>
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<servos driver="Asctec_v2_new">
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<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
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<servo name="BACK" no="1" min="0" neutral="3" max="200"/>
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<servo name="LEFT" no="2" min="0" neutral="3" max="200"/>
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<servo name="RIGHT" no="3" min="0" neutral="3" max="200"/>
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</servos>
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<commands>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="THRUST" failsafe_value="0"/>
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</commands>
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<command_laws>
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<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
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<set servo="FRONT" value="motor_mixing.commands[0]"/>
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<set servo="BACK" value="motor_mixing.commands[1]"/>
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<set servo="LEFT" value="motor_mixing.commands[2]"/>
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<set servo="RIGHT" value="motor_mixing.commands[3]"/>
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<!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
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<!-- First the correct feedback is stored in variables -->
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<let var="aileron_feedback_left" value="-@YAW"/>
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<let var="aileron_feedback_right" value="-@YAW"/>
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<let var="elevator_feedback_left" value="+@PITCH"/>
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<let var="elevator_feedback_right" value="-@PITCH"/>
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<!-- Here the gains are defined for the two feedback cases, hover and forward-->
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<let var="hover_left" value="3*$aileron_feedback_left"/>
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<let var="hover_right" value="3*$aileron_feedback_right"/>
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<let var="forward_left" value="1*$aileron_feedback_left+4*$elevator_feedback_left"/>
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<let var="forward_right" value="1*$aileron_feedback_right+4*$elevator_feedback_right"/>
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<!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
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<set servo="ELEVON_LEFT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_left : $forward_left" />
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<set servo="ELEVON_RIGHT" value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_right : $forward_right" />
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</command_laws>
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<section name="MIXING" prefix="MOTOR_MIXING_">
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_YAW" value="0"/>
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<define name="NB_MOTOR" value="4"/>
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<define name="SCALE" value="256"/>
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<define name="PITCH_COEF" value="{ -256, -256, 256, 256 }"/>
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<define name="ROLL_COEF" value="{ 256, -256, 256, -256 }"/>
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<define name="YAW_COEF" value="{ 256, -256, -128, 128 }"/>
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<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
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</section>
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<!-- If you got a caliberation XML document from your IMU supplier, import this in the IMU section -->
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<!-- Note that is better to have *no* caliberation file at all, than a one with incorrect caliberation values.
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The default factory values are most of the time perfectly acceptable, so by default we will not use the caliberation file -->
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<section name="IMU" prefix="IMU_">
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<!-- Use default driver values for gyro -->
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<!-- IMU calibration, make sure to calibrate the IMU properly before flight, see the wiki for more info-->
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<define name="ACCEL_X_NEUTRAL" value="0"/>
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<define name="ACCEL_Y_NEUTRAL" value="0"/>
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<define name="ACCEL_Z_NEUTRAL" value="0"/>
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<define name="ACCEL_X_SENS" value="4.86487566223" integer="16"/>
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<define name="ACCEL_Y_SENS" value="4.89957269597" integer="16"/>
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<define name="ACCEL_Z_SENS" value="4.82616398266" integer="16"/>
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<define name="MAG_X_NEUTRAL" value="0"/>
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<define name="MAG_Y_NEUTRAL" value="0"/>
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<define name="MAG_Z_NEUTRAL" value="0"/>
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<define name="MAG_X_SENS" value="4.19385009207" integer="16"/>
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<define name="MAG_Y_SENS" value="4.32306399648" integer="16"/>
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<define name="MAG_Z_SENS" value="4.63243801309" integer="16"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
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<define name="MODE_AUTO2" value="AP_MODE_RATE_DIRECT"/>
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<!-- <define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/> -->
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</section>
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<section name="BAT">
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<define name="MIN_BAT_LEVEL" value="10.9" units="V"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="10.3" unit="V"/>
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</section>
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<!-- These gains are used when the gain scheduling module is enabled (by loading it in the modules section)-->
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<section name ="GAIN_SETS">
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<define name="NUMBER_OF_GAINSETS" value="2"/>
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<define name="SCHEDULING_VARIABLE" value="(radio.values[COMMAND_THRUST]+ transition_status"/>
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<define name="SCHEDULING_POINTS" value="{1000, 6000}"/>
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<define name="SCHEDULING_VARIABLE_FRAC" value="0"/>
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<define name="PHI_P" value="{230, 230}"/>
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<define name="PHI_D" value="{170, 170}"/>
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<define name="PHI_I" value="{30, 30}"/>
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<define name="PHI_DD" value="{0, 0}"/>
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<define name="THETA_P" value="{200, 300}"/>
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<define name="THETA_D" value="{100, 50}"/>
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<define name="THETA_I" value="{40, 40}"/>
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<define name="THETA_DD" value="{0, 0}"/>
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<define name="PSI_P" value="{300, 300}"/>
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<define name="PSI_D" value="{150, 150}"/>
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<define name="PSI_I" value="{0, 0}"/>
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<define name="PSI_DD" value="{0, 0}"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="60." unit="deg"/>
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<define name="SP_MAX_THETA" value="60." unit="deg"/>
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<define name="SP_MAX_R" value="90." unit="deg/s"/>
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<define name="DEADBAND_R" value="250"/>
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<define name="DEADBAND_A" value="250"/>
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<define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="1500" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="300." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_Q" value="1500" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="300." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_R" value="1500" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.9"/>
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<define name="REF_MAX_R" value="90." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="170"/>
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<define name="PHI_DGAIN" value="120"/>
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<define name="PHI_IGAIN" value="30"/>
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<define name="THETA_PGAIN" value="150"/>
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<define name="THETA_DGAIN" value="70"/>
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<define name="THETA_IGAIN" value="40"/>
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<define name="PSI_PGAIN" value="300"/>
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<define name="PSI_DGAIN" value="150"/>
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<define name="PSI_IGAIN" value="0"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value=" 0"/>
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<define name="THETA_DDGAIN" value=" 0"/>
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<define name="PSI_DDGAIN" value=" 0"/>
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</section>
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<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
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<!-- control effectiveness -->
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<define name="G1_P" value="0.012"/>
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<define name="G1_Q" value="0.04"/>
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<define name="G1_R" value="0.004"/>
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<define name="G2_R" value="0.0"/>
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<!-- reference acceleration for attitude control -->
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<define name="REF_ERR_P" value="70.0"/>
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<define name="REF_ERR_Q" value="45.0"/>
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<define name="REF_ERR_R" value="70.0"/>
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<define name="REF_RATE_P" value="9.0"/>
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<define name="REF_RATE_Q" value="16.0"/>
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<define name="REF_RATE_R" value="12.0"/>
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<!-- second order filter parameters -->
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<define name="FILT_OMEGA" value="50.0"/>
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<define name="FILT_ZETA" value="0.7"/>
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<define name="FILT_OMEGA_R" value="20.0"/>
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<define name="FILT_ZETA_R" value="0.55"/>
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<!-- first order actuator dynamics -->
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<define name="ACT_DYN_P" value="0.15"/>
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<define name="ACT_DYN_Q" value="0.15"/>
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<define name="ACT_DYN_R" value="0.15"/>
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<!-- Adaptive Learning Rate -->
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<define name="USE_ADAPTIVE" value="FALSE"/>
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<define name="ADAPTIVE_MU" value="0.0001"/>
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</section>
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<!-- Gains for vertical navigation -->
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="200"/>
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<define name="HOVER_KD" value="175"/>
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<define name="HOVER_KI" value="72"/>
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<define name="NOMINAL_HOVER_THROTTLE" value ="0.4"/>
|
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<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<define name="GRAVITY_HEURISTIC_FACTOR" value="0"/>
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<define name="H_X" value=" 0.47577"/>
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<define name="H_Y" value=" 0.11811"/>
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<define name="H_Z" value=" 0.87161"/>
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</section>
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<!-- Gains for horizontal navigation-->
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="PGAIN" value="100"/>
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<define name="DGAIN" value="100"/>
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<define name="IGAIN" value="0"/>
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</section>
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<section name="MISC">
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<!-- <define name="REF_QUAT_INFINITESIMAL_STEP" value="TRUE"/> -->
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<!--The Quadshot uses a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
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<define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
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<!-- This is the pitch angle that the Quadshot will have in forward flight, where 0 degrees is hover-->
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<define name="TRANSITION_MAX_OFFSET" value="-80.0" unit="deg"/>
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
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</section>
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||||
|
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<modules main_freq="512">
|
||||
<module name="geo_mag"/>
|
||||
<module name="gps" type="ubx_ucenter"/>
|
||||
|
||||
<!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
|
||||
<module name="led_safety_status">
|
||||
<define name="USE_LED_BODY" value="1"/>
|
||||
<define name="SAFETY_WARNING_LED" value="BODY"/>
|
||||
</module>
|
||||
|
||||
<!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->
|
||||
<!--module name="gain_scheduling"/-->
|
||||
</modules>
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="lisa_m_2.0">
|
||||
<module name="radio_control" type="spektrum">
|
||||
<!-- Put the mode on channel AUX1-->
|
||||
<define name="RADIO_KILL_SWITCH" value="5"/>
|
||||
<!-- <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
|
||||
</module>
|
||||
|
||||
<configure name="FLASH_MODE" value="SWD"/>
|
||||
|
||||
<!-- on aspirin 2.1 the ms5611 baro is not connected via SPI, use BMP085 on Lisa/M board instead -->
|
||||
<!-- <configure name="LISA_M_BARO" value="BARO_BOARD_BMP085"/> -->
|
||||
<!-- If using aspirin 2.2, make sure to uncomment the following barometer configuration: -->
|
||||
<configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
|
||||
</target>
|
||||
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
</module>
|
||||
<module name="actuators" type="asctec_v2_new"/>
|
||||
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<!-- <module name="telemetry" type="transparent"/> -->
|
||||
<module name="imu" type="aspirin_v2.2"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="indi"/>
|
||||
<module name="stabilization" type="rate_indi"/>
|
||||
<module name="logger_spi_link"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<configure name="USE_MAGNETOMETER" value="TRUE"/>
|
||||
<!--define name="AHRS_GRAVITY_UPDATE_COORDINATED_TURN" value="TRUE"/-->
|
||||
</module>
|
||||
|
||||
<module name="ins"/>
|
||||
</firmware>
|
||||
</airframe>
|
||||
@@ -36,7 +36,7 @@
|
||||
</sector>
|
||||
</sectors>
|
||||
<exceptions>
|
||||
<exception cond="!InsideCyberZoo(GetPosX(), GetPosY())" deroute="Standby"/>
|
||||
<!-- <exception cond="!InsideCyberZoo(GetPosX(), GetPosY())" deroute="Standby"/>-->
|
||||
<!--<exception cond="datalink_time > 22" deroute="Land here"/>-->
|
||||
<!-- <exception cond="electrical.bat_low && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Flare')) && !(nav_block == IndexOfBlock('Landed'))" deroute="Land"/>
|
||||
<exception cond="electrical.bat_critical && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Flare')) && !(nav_block == IndexOfBlock('Landed'))" deroute="Land here"/>-->
|
||||
|
||||
@@ -0,0 +1,68 @@
|
||||
<!DOCTYPE flight_plan SYSTEM "../flight_plan.dtd">
|
||||
|
||||
<flight_plan alt="1.5" ground_alt="0" lat0="51.990634" lon0="4.376789" max_dist_from_home="100" name="Outdoor basic flight plan" security_height="0.4">
|
||||
<header>
|
||||
#include "autopilot.h"
|
||||
#include "subsystems/ahrs.h"
|
||||
#include "subsystems/electrical.h"
|
||||
#include "subsystems/datalink/datalink.h"
|
||||
</header>
|
||||
|
||||
<waypoints>
|
||||
<waypoint height="0" name="HOME" x="0.0" y="0.0"/>
|
||||
<waypoint height="2.2" name="CLIMB" x="1.2" y="-0.6"/>
|
||||
<waypoint height="1.0" name="STDBY" x="-0.7" y="-0.8"/>
|
||||
<waypoint name="TD" x="0.8" y="-1.7"/>
|
||||
</waypoints>
|
||||
|
||||
<exceptions>
|
||||
<!-- <exception cond="!InsideCyberZoo(GetPosX(), GetPosY())" deroute="Standby"/>-->
|
||||
<!--<exception cond="datalink_time > 22" deroute="Land here"/>-->
|
||||
<!-- <exception cond="electrical.bat_low && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Flare')) && !(nav_block == IndexOfBlock('Landed'))" deroute="Land"/>
|
||||
<exception cond="electrical.bat_critical && !(nav_block == IndexOfBlock('Land')) && !(nav_block == IndexOfBlock('Flare')) && !(nav_block == IndexOfBlock('Landed'))" deroute="Land here"/>-->
|
||||
</exceptions>
|
||||
<blocks>
|
||||
<block name="Wait GPS">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<while cond="!GpsFixValid()"/>
|
||||
</block>
|
||||
<block name="Geo init">
|
||||
<while cond="LessThan(NavBlockTime(), 2)"/>
|
||||
<call fun="NavSetGroundReferenceHere()"/> <!-- This sets the altitude ref -->
|
||||
<!-- <call fun="NavSetAltitudeReferenceHere()"/> -->
|
||||
</block>
|
||||
<block name="Holding point">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
<block key="r" name="Start Engine">
|
||||
<call fun="NavResurrect()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
<block key="t" name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
|
||||
<exception cond="stateGetPositionEnu_f()->z > 0.9" deroute="Standby"/>
|
||||
<call fun="NavSetWaypointHere(WP_CLIMB)"/>
|
||||
<stay climb="nav_climb_vspeed" vmode="climb" wp="CLIMB"/>
|
||||
</block>
|
||||
<block key="s" name="Standby" strip_button="Standby" strip_icon="home.png">
|
||||
<!-- <call fun="NavSetWaypointHere(WP_STDBY)"/>-->
|
||||
<stay wp="STDBY"/>
|
||||
</block>
|
||||
<block key="l" 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="nav_descend_vspeed" vmode="climb" wp="TD"/>
|
||||
</block>
|
||||
<block name="Landed">
|
||||
<call fun="NavKillThrottle()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
</blocks>
|
||||
</flight_plan>
|
||||
@@ -0,0 +1,52 @@
|
||||
<!DOCTYPE layout SYSTEM "../layout.dtd">
|
||||
|
||||
<layout width="1301" height="744">
|
||||
<columns>
|
||||
<rows SIZE="400">
|
||||
<widget NAME="strips" size="236"/>
|
||||
<widget NAME="alarms" size="500"/>
|
||||
</rows>
|
||||
<rows>
|
||||
<widget NAME="aircraft" size="258"/>
|
||||
<widget NAME="altgraph" size="100"/>
|
||||
<widget NAME="map2d" size="372">
|
||||
<papget type="message_field" display="text" x="717" y="45">
|
||||
<property name="scale" value="0.0000019"/>
|
||||
<property name="field" value="ROTORCRAFT_FP:vup"/>
|
||||
<property name="format" value="Climb Rate %.2f m/s"/>
|
||||
<property name="size" value="15."/>
|
||||
<property name="color" value="yellow"/>
|
||||
</papget>
|
||||
<papget type="message_field" display="text" x="756" y="315">
|
||||
<property name="scale" value="0.01"/>
|
||||
<property name="field" value="GPS_INT:pacc"/>
|
||||
<property name="format" value="GPS Acc %.2f m"/>
|
||||
<property name="size" value="15."/>
|
||||
<property name="color" value="yellow"/>
|
||||
</papget>
|
||||
<papget type="message_field" display="text" x="644" y="317">
|
||||
<property name="scale" value="1."/>
|
||||
<property name="field" value="GPS_INT:numsv"/>
|
||||
<property name="format" value="GPS SV %.0f"/>
|
||||
<property name="size" value="15."/>
|
||||
<property name="color" value="yellow"/>
|
||||
</papget>
|
||||
<papget type="message_field" display="gauge" x="41" y="291">
|
||||
<property name="scale" value="1."/>
|
||||
<property name="field" value="ROTORCRAFT_FP:thrust"/>
|
||||
<property name="min" value="0."/>
|
||||
<property name="max" value="100."/>
|
||||
<property name="size" value="50."/>
|
||||
<property name="text" value="Thrust"/>
|
||||
</papget>
|
||||
<papget type="message_field" display="text" x="675" y="13">
|
||||
<property name="scale" value="0.0139882"/>
|
||||
<property name="field" value="ROTORCRAFT_FP:psi"/>
|
||||
<property name="format" value="Body Heading %.2f deg"/>
|
||||
<property name="size" value="15."/>
|
||||
<property name="color" value="yellow"/>
|
||||
</papget>
|
||||
</widget>
|
||||
</rows>
|
||||
</columns>
|
||||
</layout>
|
||||
@@ -146,7 +146,7 @@
|
||||
<message name="INS_REF" period="5.1"/>
|
||||
</mode>
|
||||
|
||||
</process>
|
||||
</process>
|
||||
|
||||
</telemetry>
|
||||
|
||||
|
||||
Reference in New Issue
Block a user