mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-31 03:57:45 +08:00
Rotwing State Update: no hardcoded defines in flightplan (#3201)
This commit is contained in:
Christophe De Wagter
committed by
GitHub
GitHub
parent
481a53dbaf
commit
a8f1c063a6
@@ -10,7 +10,6 @@
|
||||
<waypoint name="end_trans" x="100." y="100."/>
|
||||
<waypoint name="STDBY" lat="52.1682655" lon="4.4135103"/>
|
||||
<waypoint name="begin_trans" lat="52.168412" lon="4.4149282"/>
|
||||
<!--<waypoint name="p1" lat="52.1674262" lon="4.4141448"/>-->
|
||||
<waypoint name="p1" lat="52.1672408" lon="4.4144528"/>
|
||||
<waypoint name="p2" lat="52.1682897" lon="4.4138441"/>
|
||||
<waypoint name="p3" lat="52.1687878" lon="4.4155648"/>
|
||||
@@ -43,7 +42,9 @@
|
||||
</sector>
|
||||
</sectors>
|
||||
<modules>
|
||||
<!--<module name="follow_me"/>-->
|
||||
<!-- <module name="follow_me">
|
||||
<define name="FOLLOW_ME_MOVING_WPS" value="WP_p1"/>
|
||||
</module> -->
|
||||
</modules>
|
||||
<exceptions>
|
||||
<exception cond="Or(!InsideFlyzone(GetPosX(), GetPosY()), GetPosAlt() @GT GetAltRef() + 1500) @AND !(nav_block == IndexOfBlock('Wait GPS')) @AND !(nav_block == IndexOfBlock('Geo init')) @AND !(nav_block == IndexOfBlock('Holding point'))" deroute="Holding point"/>
|
||||
@@ -51,28 +52,28 @@
|
||||
</exceptions>
|
||||
<blocks>
|
||||
<block name="Wait GPS">
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<call_once fun="NavKillThrottle()"/>
|
||||
<while cond="!GpsFixValid() || !state.ned_initialized_i"/>
|
||||
</block>
|
||||
<block name="Geo init">
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<while cond="LessThan(NavBlockTime(), 10)"/>
|
||||
<call_once fun="NavSetAltitudeReferenceHere()"/>
|
||||
</block>
|
||||
<block name="Holding point">
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<call_once fun="NavKillThrottle()"/>
|
||||
<set var="stabilization_cmd[COMMAND_THRUST_X]" value="0"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
<block name="Start Engine" strip_button="Start Engines" strip_icon="on.png">
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<call_once fun="NavResurrect()"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="stage_time>10" vmode="throttle"/>
|
||||
</block>
|
||||
<block name="Takeoff" strip_button="Takeoff" strip_icon="takeoff.png">
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<exception cond="agl_dist_valid @AND (agl_dist_value @GT 1.0)" deroute="Climb"/>
|
||||
<call_once fun="autopilot_set_in_flight(true)"/><!-- this is a hack to solve INDI not being active fast enough -->
|
||||
|
||||
@@ -81,55 +82,48 @@
|
||||
</block>
|
||||
<block name="Climb">
|
||||
<exception cond="GetPosAlt() @GT 20.0" deroute="Standby"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<call_once fun="nav_set_heading_current()"/>
|
||||
<stay climb="nav.climb_vspeed" vmode="climb" wp="CLIMB"/>
|
||||
</block>
|
||||
<block name="Standby" strip_button="Standby" strip_icon="home.png">
|
||||
<set value="7" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<stay wp="STDBY" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
|
||||
</block>
|
||||
<block name="Approach APP">
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<stay alt="WaypointAlt(WP_APP)" pre_call="approach_moving_target_enable(WP_APP)" wp="APP"/>
|
||||
</block>
|
||||
<!--<block name="follow_module">
|
||||
<set value="false" var="force_forward"/>
|
||||
<stay pre_call="follow_me_set_wp(WP_FOLLOW, 0)" wp="FOLLOW"/>
|
||||
</block>-->
|
||||
<block name="stay_begin-trans">
|
||||
<set value="7" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
|
||||
<!-- <block name="follow_module">
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<stay pre_call="follow_me_set_wp(WP_p1, 0)" wp="p1"/>
|
||||
</block> -->
|
||||
<block name="stay_begin-trans">
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<stay wp="begin_trans" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
|
||||
</block>
|
||||
<block name="line_trans_fwd">
|
||||
<set value="50" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_SKEWING)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
|
||||
<call_once fun="NavSetWaypointHere(WP_begin_trans)"/>
|
||||
<go wp="end_trans"/>
|
||||
<deroute block="end_transition"/>
|
||||
</block>
|
||||
<block name="end_transition">
|
||||
<set value="7" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<stay wp="end_trans"/>
|
||||
</block>
|
||||
<block name="transition_CW">
|
||||
<set value="50" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_SKEWING)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
|
||||
<stay wp="end_trans"/>
|
||||
<exception cond="RotWingAutomationReadyForForward()" deroute="Circle_CW_fwd"/>
|
||||
</block>
|
||||
<block name="transition_CCW">
|
||||
<set value="50" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_SKEWING)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
|
||||
<stay wp="end_trans"/>
|
||||
<exception cond="RotWingAutomationReadyForForward()" deroute="Circle_CCW_fwd"/>
|
||||
</block>
|
||||
<block name="route">
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_FW)"/>
|
||||
<set value="50" var="nav_max_speed"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
|
||||
<go from="p1" hmode="route" wp="p2"/>
|
||||
<go from="p2" hmode="route" wp="p3"/>
|
||||
<go from="p3" hmode="route" wp="p4"/>
|
||||
@@ -137,8 +131,7 @@
|
||||
<deroute block="route"/>
|
||||
</block>
|
||||
<block name="small_route" strip_button="Route" strip_icon="path.png">
|
||||
<set value="50" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_FW)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
|
||||
<go wp="p2"/>
|
||||
<go wp="p3"/>
|
||||
<go wp="p4"/>
|
||||
@@ -146,57 +139,47 @@
|
||||
<deroute block="small_route"/>
|
||||
</block>
|
||||
<block name="Circle_CW_fwd" strip_button="CircleRight" strip_icon="circle-right.png">
|
||||
<set value="50" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_FW_HOV_MOT_OFF)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
|
||||
<circle radius="100" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
|
||||
</block>
|
||||
<block name="Circle_CCW_fwd" strip_button="CircleLeft" strip_icon="circle-left.png">
|
||||
<set value="50" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_FW_HOV_MOT_OFF)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
|
||||
<circle radius="-100" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
|
||||
</block>
|
||||
<block name="big_Circle_CW_fwd">
|
||||
<set value="50" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_FW_HOV_MOT_IDLE)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
|
||||
<circle radius="150" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
|
||||
</block>
|
||||
<block name="big_Circle_CCW_fwd">
|
||||
<set value="50" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_FW_HOV_MOT_IDLE)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_EFFICIENT)"/>
|
||||
<circle radius="-150" wp="circ" pre_call="rot_wing_vis_transition(WP_trans, WP_decel, WP_end_trans)"/>
|
||||
</block>
|
||||
<block name="Transition_quad">
|
||||
<set value="50" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_SKEWING)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HYBRID)"/>
|
||||
<go wp="STDBY"/>
|
||||
<deroute block="Standby"/>
|
||||
</block>
|
||||
<block name="land here" strip_button="Land Here" strip_icon="land-right.png">
|
||||
<set value="7" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<call_once fun="NavSetWaypointHere(WP_TD)"/>
|
||||
</block>
|
||||
<block name="land">
|
||||
<set value="7" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<go wp="TD"/>
|
||||
</block>
|
||||
<block name="descend">
|
||||
<set value="7" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<exception cond="GetPosAlt() @LT 12.0" deroute="flare"/>
|
||||
<stay climb="-1.0" vmode="climb" wp="TD"/>
|
||||
</block>
|
||||
<block name="flare">
|
||||
<set value="7" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<stay climb="-0.5" vmode="climb" wp="TD"/>
|
||||
<!--<exception cond="!(GetPosAlt() @LT 2.0)" deroute="flare_low"/>-->
|
||||
<exception cond="agl_dist_valid @AND (agl_dist_value @LT 0.28)" deroute="flare_low"/>
|
||||
</block>
|
||||
<block name="flare_low">
|
||||
<set value="7" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<exception cond="NavDetectGround()" deroute="Holding point"/>
|
||||
<exception cond="!nav_is_in_flight()" deroute="Holding point"/>
|
||||
<exception cond="ground_detect()" deroute="Holding point"/>
|
||||
@@ -204,8 +187,7 @@
|
||||
<stay climb="-0.5" vmode="climb" wp="TD"/>
|
||||
</block>
|
||||
<block name="landed">
|
||||
<set value="7" var="nav_max_speed"/>
|
||||
<call_once fun="request_rotwing_state(ROTWING_STATE_HOVER)"/>
|
||||
<call_once fun="rotwing_request_configuration(ROTWING_CONFIGURATION_HOVER)"/>
|
||||
<attitude pitch="0" roll="0" throttle="0" until="FALSE" vmode="throttle"/>
|
||||
</block>
|
||||
</blocks>
|
||||
|
||||
@@ -8,6 +8,7 @@
|
||||
<dl_settings NAME="RotWingState">
|
||||
<dl_setting var="rotwing_state_skewing.wing_angle_deg_sp" min="0" step="1" max="90" shortname="skew angle"/>
|
||||
<dl_setting var="rotwing_state_skewing.force_rotation_angle" min="0" step="1" max="1" values="FALSE|TRUE" shortname="force_skew"/>
|
||||
<dl_setting var="rotwing_state_max_hover_speed" min="5" step="0.5" max="25" shortname="hover_speed"/>
|
||||
<dl_setting var="hover_motors_active" min="0" step="1" max="1" values="FALSE|TRUE" shortname="h_motors_active"/>
|
||||
<dl_setting var="bool_disable_hover_motors" min="0" step="1" max="1" values="FALSE|TRUE" shortname="h_motors_disable"/>
|
||||
</dl_settings>
|
||||
|
||||
Reference in New Issue
Block a user