mirror of
https://github.com/paparazzi/paparazzi.git
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EMAV files and icons
This commit is contained in:
Christophe De Wagter
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="25" ground_alt="0" lat0="52.399851" lon0="5.920303" max_dist_from_home="1500" name="Basic" security_height="100">
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<header>
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#include "nav_line.h"
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#include "datalink.h"
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</header>
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<waypoints>
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<waypoint name="HOME" x="0" y="0"/>
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<waypoint name="STDBY" x="49.5" y="100.1"/>
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<waypoint name="1" x="10.1" y="189.9"/>
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<waypoint name="2" x="132.3" y="139.1"/>
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<waypoint name="MOB" x="137.0" y="-11.6"/>
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<waypoint name="S1" x="-119.2" y="69.6"/>
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<waypoint name="S2" x="274.4" y="209.5"/>
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<waypoint alt="30.0" name="AF" x="177.4" y="45.1"/>
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<waypoint alt="0.0" name="TD" x="28.8" y="57.0"/>
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<waypoint name="_BASELEG" x="168.8" y="-13.8"/>
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<waypoint name="CLIMB" x="-114.5" y="162.3"/>
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</waypoints>
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<exceptions/>
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<blocks>
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<block name="Wait GPS">
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<set value="1" var="kill_throttle"/>
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<while cond="!GpsFixValid()"/>
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</block>
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<block name="Geo init">
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<while cond="LessThan(NavBlockTime(), 10)"/>
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<call fun="NavSetGroundReferenceHere()"/>
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</block>
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<block name="Holding point">
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<set value="1" var="kill_throttle"/>
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<attitude roll="0" throttle="0" vmode="throttle"/>
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</block>
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<block name="Takeoff" strip_button="Takeoff (wp CLIMB)" strip_icon="takeoff.png">
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<exception cond="estimator_z > ground_alt+25" deroute="Standby"/>
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<set value="0" var="kill_throttle"/>
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<set value="0" var="estimator_flight_time"/>
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<go from="HOME" throttle="1.0" vmode="throttle" wp="CLIMB" pitch="15"/>
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</block>
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<block name="Standby" strip_button="Standby" strip_icon="home.png">
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<circle radius="nav_radius" wp="STDBY"/>
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</block>
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<block name="Figure 8 around wp 1" strip_button="Figure 8 (wp 1-2)" strip_icon="eight.png">
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<eight center="1" radius="nav_radius" turn_around="2"/>
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</block>
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<block name="Oval 1-2" strip_button="Oval (wp 1-2)" strip_icon="oval.png">
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<oval p1="1" p2="2" radius="nav_radius"/>
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</block>
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<block name="MOB" strip_button="Turn around here" strip_icon="mob.png">
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<call fun="NavSetWaypointHere(WP_MOB)"/>
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<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
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<circle radius="nav_radius" wp="MOB"/>
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</block>
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<block name="Line 1-2" strip_button="Line (wp 1-2)" strip_icon="line.png">
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<exception cond="datalink_time > 22" deroute="Standby"/>
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<call fun="nav_line_init()"/>
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<call fun="nav_line(WP_1, WP_2, nav_radius)"/>
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</block>
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<block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
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<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
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</block>
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<block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
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<set value="DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
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<deroute block="land"/>
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</block>
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<block name="Land Left AF-TD" strip_button="Land left (wp AF-TD)" strip_icon="land-left.png">
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<set value="-DEFAULT_CIRCLE_RADIUS" var="nav_radius"/>
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<deroute block="land"/>
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</block>
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<block name="land">
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<call fun="nav_compute_baseleg(WP_AF, WP_TD, WP__BASELEG, nav_radius)"/>
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<circle radius="nav_radius" until="NavCircleCount() > 0.5" wp="_BASELEG"/>
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<circle radius="nav_radius" until="NavQdrCloseTo(DegOfRad(baseleg_out_qdr)-10) && 10 > fabs(estimator_z - WaypointAlt(WP__BASELEG))" wp="_BASELEG"/>
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</block>
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<block name="final">
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<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
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<go from="AF" hmode="route" vmode="glide" wp="TD"/>
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</block>
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<block name="flare">
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<go approaching_time="0" from="AF" hmode="route" throttle="0.0" vmode="throttle" wp="TD"/>
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<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
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</block>
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</blocks>
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</flight_plan>
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<?xml version="1.0"?>
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<!-- $Id$
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--
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-- (c) 2003 Pascal Brisset, Antoine Drouin
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--
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-- This file is part of paparazzi.
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--
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-- paparazzi is free software; you can redistribute it and/or modify
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-- it under the terms of the GNU General Public License as published by
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-- the Free Software Foundation; either version 2, or (at your option)
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-- any later version.
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--
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-- paparazzi is distributed in the hope that it will be useful,
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-- but WITHOUT ANY WARRANTY; without even the implied warranty of
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-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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-- GNU General Public License for more details.
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--
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-- You should have received a copy of the GNU General Public License
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-- along with paparazzi; see the file COPYING. If not, write to
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-- the Free Software Foundation, 59 Temple Place - Suite 330,
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-- Boston, MA 02111-1307, USA.
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-->
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<!--
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-- Attributes of root (Radio) tag :
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-- name: name of RC
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-- min: min width of a pulse to be considered as a data pulse
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-- max: max width of a pulse to be considered as a data pulse
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-- sync: min width of a pulse to be considered as a synchro pulse
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-- min, max and sync are expressed in micro-seconds
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-->
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<!--
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-- Attributes of channel tag :
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-- ctl: name of the command on the transmitter - only for displaying
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-- no: order in the PPM frame
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-- function: logical command
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-- averaged: channel filtered through several frames (for discrete commands)
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-- min: minimum pulse length (micro-seconds)
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-- max: maximum pulse length (micro-seconds)
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-- neutral: neutral pulse length (micro-seconds)
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Note: a command may be reversed by exchanging min and max values
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-->
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<!DOCTYPE radio SYSTEM "radio.dtd">
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<radio name="GroupnerMC22" data_min="950" data_max="2150" sync_min="5000" sync_max="15000">
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<channel ctl="A" function="THROTTLE" min="1100" neutral="1100" max="1900" average="0"/> <!-- right stick up/down -->
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<channel ctl="B" function="ROLL" min="1100" neutral="1500" max="1900" average="0"/> <!-- right stick left/right -->
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<channel ctl="C" function="PITCH" min="1100" neutral="1500" max="1900" average="0"/> <!-- left stick up/down -->
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<channel ctl="D" function="YAW" min="1100" neutral="1500" max="1900" average="0"/> <!-- left stick left/right-->
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<channel ctl="E" function="MODE" min="1100" neutral="1500" max="1900" average="10"/> <!-- left switch -->
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<channel ctl="F" function="PAN" min="1100" neutral="1500" max="1900" average="0"/> <!-- left switch -->
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<channel ctl="G" function="TILT" min="1100" neutral="1500" max="1900" average="0"/> <!-- left switch -->
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<channel ctl="H" function="GENERAL1" min="1100" neutral="1500" max="1900" average="10"/> <!-- left switch -->
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<channel ctl="I" function="GENERAL2" min="1100" neutral="1500" max="1900" average="10"/> <!-- left switch -->
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</radio>
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<!DOCTYPE settings SYSTEM "settings.dtd">
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<settings>
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<dl_settings NAME="control">
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<dl_settings name="cam">
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<dl_setting MAX="5" MIN="0" STEP="1" module="cam" VAR="cam_mode">
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<!-- <strip_button name="TARGET" value="4"/>
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<strip_button name="NADIR" value="2"/>
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--> <strip_button name="ANGLES" value="1"/>
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</dl_setting>
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</dl_settings>
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<dl_settings name="angles">
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<dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="cam" VAR="cam_tilt_c">
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<strip_button name="Look Foreward" icon="lookfore.png" value="-0.5"/>
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<strip_button name="Look Down" icon="lookdown.png" value="0.5"/>
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</dl_setting>
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<dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="cam" VAR="cam_pan_c"/>
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</dl_settings>
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<!--
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<dl_settings name="target">
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<dl_setting min="1" max="10" step="1" module="cam" var="cam_target_wp" shortname="wp"/>
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</dl_settings>
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-->
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</dl_settings>
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</settings>
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</dl_setting>
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</dl_setting>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Ap" shortname="tele_AP"/>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Ap" shortname="tele_AP"/>
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<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx" handler="Reset" shortname="GPS reset"/>
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<dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx" handler="Reset" shortname="GPS reset"/>
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<dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="nav" handler="SetNavRadius">
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<strip_button icon="circle-right.png" name="Circle right" value="1"/>
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<strip_button icon="circle-left.png" name="Circle left" value="-1"/>
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</dl_setting>
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</dl_settings>
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</dl_settings>
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<dl_settings NAME="control">
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<dl_settings NAME="control">
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