mirror of
https://github.com/paparazzi/paparazzi.git
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- Useless flight plans removed
This commit is contained in:
Pascal Brisset
@@ -1,66 +0,0 @@
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<!DOCTYPE flight_plan SYSTEM "flight_plan.dtd">
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<flight_plan alt="1900" ground_alt="1780" lat0="42.725089" lon0="1.688210" max_dist_from_home="20000" name="NS" security_height="250">
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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="BEILLE" x="0" y="-10"/>
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<waypoint name="STDBY" x="49.5" y="100.1"/>
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<waypoint alt="2350.0" name="PASS" x="1184.2" y="-11752.8"/>
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<waypoint alt="2000.0" name="INCLES" x="-289.6" y="-13601.6"/>
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<waypoint alt="1880.0" name="AF" x="-199.2" y="-13625.7"/>
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<waypoint alt="1850.0" name="TD" x="-290.0" y="-13621.7"/>
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<waypoint name="_BASELEG" x="1742.7" y="-13383.7"/>
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<waypoint name="CLIMB" x="-114.5" y="162.3"/>
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<waypoint alt="2100.0" name="LAPARAN" x="1530.1" y="-6079.1"/>
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<waypoint alt="2150.0" name="DESCENT" x="352.6" y="-12433.6"/>
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</waypoints>
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<exceptions/>
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<blocks>
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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 key="t" 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" pitch="15" throttle="1.0" vmode="throttle" wp="CLIMB"/>
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</block>
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<block key="<Control>a" name="Standby" strip_button="Standby" strip_icon="home.png">
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<set value="NAV_MODE_COURSE" var="nav_mode"/>
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<circle radius="nav_radius" wp="STDBY"/>
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</block>
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<block name="GO">
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<go from="BEILLE" hmode="route" wp="LAPARAN"/>
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<go from="LAPARAN" hmode="route" wp="PASS"/>
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<go from="PASS" hmode="route" wp="DESCENT"/>
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<go alt="2100" from="DESCENT" hmode="route" wp="INCLES"/>
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<circle radius="100" wp="INCLES"/>
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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="And(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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@@ -1,125 +0,0 @@
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<flight_plan alt="255" ground_alt="185" lat0="43.46223" lon0="1.27289" max_dist_from_home="500" name="Basic" security_height="25">
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<header>
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#include "joystick.h"
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#include "bomb.h"
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#include "nav_line.h"
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#include "datalink.h"
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</header>
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<rc_control>
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</rc_control>
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<waypoints>
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<waypoint name="HOME" x="15.0" y="5.0"/>
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<waypoint name="1" x="-181.785735614" y="34.9692539535"/>
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<waypoint name="2" x="130.143368186" y="90.3661855655"/>
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<waypoint name="CR" x="0.0885126006" y="73.7359798392"/>
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<waypoint name="S1" x="-200" y="-200"/>
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<waypoint name="S2" x="300" y="400"/>
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<waypoint name="START" x="140.0" y="35."/>
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<waypoint name="BASELEG" x="39.9" y="-130.3"/>
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<waypoint name="RELEASE" x="39.9" y="-110.3"/>
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<waypoint name="CLIMB" x="39.9" y="-90.3"/>
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<waypoint name="_BASELEG" x="39.9" y="-90.3"/>
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<waypoint alt="215" name="AF" x="39.9" y="-90.3"/>
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<waypoint alt="185" name="TD" x="-10." y="10.3"/>
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<waypoint alt="185" name="TARGET" x="0.9" y="10.3"/>
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</waypoints>
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<blocks>
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<block NAME="start">
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<attitude roll="0" pitch="20" vmode="throttle" throttle="0.7" until="(estimator_flight_time > 3)"/>
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<go wp="START"/>
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</block>
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<block NAME="wait" strip_button="wait" strip_icon="home.png">
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<set value="BombCloseHatch()" var="unit"/>
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<circle wp="CR" radius="nav_radius"/>
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</block>
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<block name="waitshoot" strip_button="wait wing drop" strip_icon="home_drop.png">
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<set value="BombShoot()" var="unit"/>
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<circle wp="CR" radius="nav_radius"/>
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<deroute block="wait"/>
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</block>
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<block NAME="east">
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<go target="2" APPROACHING_TIME="2" HMODE="route" WP="2" from="1"/>
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<deroute block="west"/>
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</block>
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<block NAME="west">
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<go target="1" APPROACHING_TIME="2" HMODE="route" WP="1" from="2"/>
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<deroute block="east"/>
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</block>
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<block NAME="east t">
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<go target="2" APPROACHING_TIME="2" PITCH="auto" THROTTLE="0.55" HMODE="route" WP="2" from="1"/>
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<deroute block="west t"/>
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</block>
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<block NAME="west t">
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<go target="1" APPROACHING_TIME="2" PITCH="auto" THROTTLE="0.55" HMODE="route" WP="1" from="2"/>
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<deroute block="east t"/>
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</block>
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<block name="survey">
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<survey_rectangle grid="150" wp1="S1" wp2="S2"/>
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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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<set value="BombCloseHatch()" var="unit"/>
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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="Line 1-2 wing drop" strip_button="Line drop (wp 1-2)" strip_icon="line_drop.png">
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<set value="BombShoot()" var="unit"/>
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<go from="1" hmode="route" wp="2"/>
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<set value="BombCloseHatch()" var="unit"/>
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<deroute block="Line 1-2"/>
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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="Survey S1-S2 NS" strip_button="Survey (wp S1-S2) NS" 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="Survey S1-S2 WE" strip_button="Survey (wp S1-S2) WE" strip_icon="survey_we.png">
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<survey_rectangle grid="150" orientation="WE" wp1="S1" wp2="S2"/>
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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="down" strip_button="Down" strip_icon="downdown.png">
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<set var="lateral_mode" value="LATERAL_MODE_ROLL"/>
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<set var="v_ctl_mode" value="V_CTL_MODE_MANUAL"/>
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<set value="TRUE" var="h_ctl_disabled"/>
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<set value="(-0.6*MAX_PPRZ)" var="h_ctl_aileron_setpoint"/>
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<set value="(0.9*MAX_PPRZ)" var="h_ctl_elevator_setpoint"/>
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<while cond="estimator_z > ground_alt + 220"/>
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<set value="0" var="h_ctl_aileron_setpoint"/>
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<set value="0" var="h_ctl_elevator_setpoint"/>
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<!--deroute block="down_end"/-->
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</block>
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<block NAME="down_end" strip_button="DownEnd" strip_icon="downdownend.png">
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<set value="0" var="h_ctl_aileron_setpoint"/>
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<set value="0" var="h_ctl_elevator_setpoint"/>
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<while cond="1.> stage_time"/>
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<set value="FALSE" var="h_ctl_disabled"/>
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<deroute block="wait"/>
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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) && 20 > 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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